Multi-path planning method for intelligent vehicle transfer and garage transfer

Abstract

The invention discloses a multi-path planning method for intelligent vehicle transfer and garage transfer, relates to the technology of railway loading and unloading related equipment, and solves the technical problems that when an existing vehicle transfer platform works along a set target path, once the target path is affected and cannot pass safely, the target path needs to be planned again, and time and labor are wasted. According to the method, relocation paths are evaluated and sorted based on reference indexes to obtain a target path library; the migration path obtained through planning is effectively screened and evaluated in the aspects of the load, the comprehensive efficiency and the safety, and the reliability of the target path can be guaranteed; according to the method, the transfer platform is dynamically controlled based on the target path library, that is, abnormal features are recognized in real time in the working process of the transfer platform, and the moving direction can be immediately determined at the buffer moment by reasonably setting the buffer moment and re-determining the target path, so that a large amount of time is prevented from being wasted when the abnormal features occur, and the overall library migration efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of railway loading and unloading related equipment, and specifically is a multi-path planning method for intelligent vehicle and warehouse relocation. Background Art

[0002] A car mover is an industrial transport equipment mainly used in railway or similar rail transport systems to move, position, store and transport locomotives, carriages or other rail vehicles. A car mover is usually used in conjunction with a rail system to move vehicles along the rails.

[0003] In the existing vehicle transfer platform operation process, the target path is first obtained based on the initial position and the target position, and then the rail vehicle transfer work is completed along the established target path with the cooperation of the staff. In the process of determining the target path, it is generally planned based on time or distance, without considering the impact of the real-time environment; when working along the established target path, once the target path is affected and cannot be safely passed, it is necessary to re-plan the target path, which is time-consuming and laborious.

[0004] This application provides a multi-path planning method for intelligent vehicle and warehouse relocation to solve the above technical problems. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art; to this end, the present application proposes a multi-path planning method for intelligent vehicle moving and warehouse moving, which is used to solve the technical problem that when the existing vehicle moving platform works along a predetermined target path, once the target path is affected and cannot be passed safely, it is necessary to re-plan the target path, which is time-consuming and laborious.

[0006] To achieve the above objectives, the first aspect of the present application provides a multi-path planning method for intelligent vehicle and warehouse relocation, including:

[0007] Determine the initial position and target position of the transfer platform according to the warehouse transfer plan; plan the moving path between the initial position and the target position based on the operating track; the operating track is the track that can be used in the operation area;

[0008] The comprehensive load of the moving platform is obtained according to the warehouse transfer plan, and the moving path is screened based on the comprehensive load to obtain the warehouse transfer path; wherein the comprehensive load is the maximum load of the moving platform during the process of moving the vehicle and moving the warehouse;

[0009] Based on the reference indicators, the warehouse transfer paths are evaluated and ranked to obtain the target path library; based on the target path library, the transfer platform is dynamically controlled; among them, the reference indicators include indicator one and indicator two, indicator one is used to evaluate the comprehensive efficiency of the warehouse transfer work, and indicator two is used to evaluate the safety of the warehouse transfer process.

[0010] The moving platform is mainly used to move, locate, store and transport locomotives, carriages or other rail vehicles. It is large in size and mass. During operation, it can only provide sound and light warnings for abnormal features such as intruders and intruders, but cannot effectively avoid them. Moreover, once the abnormal features are difficult to eliminate in a short time, the overall working efficiency of the moving platform will be affected.

[0011] This application first plans the moving path based on the initial position of the transfer platform and the target position to be reached. The moving path is planned based on the existing tracks in the operation area. Affected by the distance between the initial position and the target position, as well as the track layout in the operation area, there may be multiple moving paths between the initial position and the target position. Therefore, first determine multiple available moving paths based on the warehouse transfer plan.

[0012] The above-planned moving path is constructed based on a normally usable track, but the usability of the track does not necessarily support the moving work of the moving platform. Once the total weight of the moving platform and the rail vehicle that needs to be moved exceeds the track load, problems are likely to occur during the work process, resulting in the interruption of the moving work. Therefore, this application first screens the moving path according to the comprehensive load of the moving platform to ensure that all moving paths after screening can ensure that the moving platform completes the current moving task.

[0013] Then, the selected warehouse relocation paths are evaluated and analyzed according to the reference indicators to obtain the target path library. At this time, there are multiple warehouse relocation paths in the target path library that can meet the requirements in terms of efficiency and safety. During the warehouse relocation work, the relocation platform will inevitably have intrusions by people, animals, obstacles, etc. When these abnormal features occur, it is necessary to dynamically select the most suitable target path from the multiple warehouse relocation paths in the target path library to ensure the efficient and safe completion of the warehouse relocation work.

[0014] Preferably, planning a moving path between an initial position and a target position based on the running track includes:

[0015] Mark the initial position and the target position as the initial node and the target node respectively;

[0016] All track paths from the initial node to the target node are extracted from the running track; the passability of the track path is evaluated to obtain a moving path; wherein the moving path includes at least the initial node and the target node.

[0017] Considering that the transfer platform may be dynamically adjusted according to the target path library in the future, the planned moving path includes not only the initial node (initial position) and the target node (target position), but also the intermediate node. The intermediate node can be a track intersection, that is, when the transfer platform is at this intermediate node, there are at least two tracks in the forward direction. After obtaining the track path, it is necessary to conduct a preliminary evaluation, that is, to evaluate the passability of each track path. When the passability evaluation is qualified, the track path is recorded as the moving path. In this way, it can be ensured that the selected moving path can support the work of the transfer platform.

[0018] Preferably, the moving paths are screened based on the comprehensive load, including:

[0019] Extract the absolute value of the maximum acceleration of the moving platform during the speed change movement, and the maximum load that can be carried by each moving path; wherein the speed change movement includes the starting process, the braking process or the acceleration process;

[0020] The inertia load of the transfer platform on the running track is calculated based on the absolute value of the comprehensive load and the maximum acceleration; whether the minimum load of each moving path is greater than the inertia load is determined; if yes, the moving path is recorded as the warehouse transfer path.

[0021] The moving path can only support the work of the moving platform in terms of volume. Sometimes, when the moving platform is moving heavy rail vehicles, it may exceed the load of part of the running track, thus bringing potential risks.

[0022] This application evaluates and screens the moving paths based on the comprehensive load of the moving platform, that is, the total mass of the moving platform and the transported rail vehicle is used to determine whether each moving path can support the completion of the transportation work. In this judgment process, in addition to considering the static load, it is also necessary to consider the inertia force of the moving platform during starting, braking, acceleration, etc., which may be greater than the static load. This application screens the moving paths based on the comprehensive load to ensure that the selected warehouse relocation path can meet the smooth progress of the warehouse relocation plan.

[0023] Preferably, the migration paths are evaluated and ranked based on reference indicators, including:

[0024] Based on indicator 1, the migration path is evaluated once to obtain path library 1; based on indicator 2, path library 1 is evaluated again to obtain the target path library; or

[0025] Based on indicator 2, the migration path is evaluated once to obtain path library 1; based on indicator 1, path library 1 is evaluated twice to obtain the target path library.

[0026] When the mobile platform is carrying out the warehouse relocation task, it needs to comprehensively consider factors such as time, energy consumption, and safety. This application classifies time, energy consumption, etc. as comprehensive efficiency indicators, and classifies personnel and obstacles intruding into the work area as safety indicators. It is necessary to further evaluate the warehouse relocation path in combination with the above reference indicators to ensure the safety and efficiency of the warehouse relocation path in the target path library.

[0027] This application can first evaluate the comprehensive efficiency of the migration path through indicator one, and then evaluate the security of the evaluation result of indicator one through indicator two; it can also first evaluate the security of the migration path through indicator two, and then evaluate the comprehensive efficiency. The evaluation of indicators one and two in sequence does not affect the overall evaluation results. This application can retain the migration path that meets the efficiency and security requirements by evaluating the reference indicators.

[0028] Preferably, an evaluation of the migration path is performed based on a pair of indicators, including:

[0029] The migration path is divided into a number of path segments i according to characteristic nodes; i = 1, 2, ..., n, n is a positive integer; characteristic nodes include initial nodes, intermediate nodes and target nodes;

[0030] Calculate the segment evaluation coefficient GPXi of each path segment i based on indicator 1; calculate the efficiency evaluation coefficient ZPX of the warehouse migration path according to the formula ZPX=∑(GPXi)-(i-2)×JPX; where JPX is the node evaluation coefficient corresponding to the intermediate node calculated based on time and energy consumption; where indicator 1 includes energy consumption and time;

[0031] When the efficiency evaluation coefficient ZPX is less than the evaluation coefficient threshold, the migration path is included in the path library 1.

[0032] When evaluating the comprehensive efficiency of the warehouse relocation path, this application takes into account that if the transfer platform switches tracks at the intermediate nodes, there will definitely be deceleration and acceleration problems, which will certainly affect the comprehensive efficiency. Therefore, when evaluating the warehouse relocation path based on indicator one, the warehouse relocation path is first segmented according to the characteristic nodes to obtain several path segments; after evaluating each path segment, it is combined with the time and energy consumption issues at the intermediate nodes to improve the accuracy of the evaluation of the entire warehouse relocation path.

[0033] Preferably, a secondary evaluation of the pathway library 1 is performed based on the indicator 2, including:

[0034] Extract the migration path in path library 1 and mark it as the intermediate path; extract the location features and historical intrusion data in indicator 2;

[0035] The intrusion probability RGi of the intermediate path corresponding to several path segments i is calculated based on the location features, and the intrusion weight RQi of the intermediate path corresponding to several path segments i is calculated based on the historical intrusion data;

[0036] The risk assessment coefficient FPX of the intermediate path is calculated by the formula FPX=∑(RQi×RGi); when the risk assessment coefficient FPX is less than the risk assessment threshold, the corresponding intermediate path is included in the target path library.

[0037] After evaluating the comprehensive efficiency of the warehouse relocation path through indicator 1, this application also needs to conduct a risk assessment. During the operation of the relocation platform, workers may appear on the warehouse relocation path. Although the relocation platform can perform automatic detection and early warning, it will also affect the overall work efficiency. Moreover, when the warehouse relocation path is close to the living area, unrelated personnel or animals may also appear on the warehouse relocation path.

[0038] This application still adopts a segmented assessment method to evaluate the risk of each path segment. According to the location characteristics of the path segment, such as whether it is close to the road, whether it is close to the living area, whether it is close to the forest area, etc., the invasion probability of the corresponding path segment is set, and then the invasion weight corresponding to each path segment is calculated in combination with the historical invasion data. The risk assessment coefficient of each path segment is calculated in combination. The risk assessment of the relocation path is realized by combining the risk assessment coefficients of each path segment, which helps to reduce the probability of the above risks occurring in the relocation path in the target path library.

[0039] Preferably, the vehicle transfer platform is dynamically controlled based on the target path library, including:

[0040] Based on the efficiency evaluation coefficient ZPX and the risk evaluation coefficient FPX, a migration path is selected from the target path library and the migration path is used as the target path.

[0041] The moving platform is controlled to work along the target path, and at the same time, the environmental image is collected in real time through the moving platform; abnormal features are identified based on the environmental image, and the target path is re-determined according to the abnormal features to achieve dynamic control.

[0042] After evaluating the reference indicators, this application selects the target path that meets the requirements for comprehensive efficiency and safety, and there are multiple target paths, laying the foundation for subsequent dynamic adjustments. Based on the efficiency evaluation coefficient and risk evaluation coefficient, the best one is selected from the target path library as the target path, and the moving platform is controlled to move the warehouse along the target path, ensuring the working efficiency of the moving platform in terms of efficiency and risk.

[0043] Although risk assessment has been conducted, it is still impossible to avoid intrusions on the target path, thus affecting the working efficiency of the vehicle transfer platform. Once abnormal characteristics appear, on the one hand, early warning should be issued to eliminate the abnormal characteristics as soon as possible, and on the other hand, the target path needs to be replanned to prepare for the subsequent switching of the moving path.

[0044] Preferably, re-determining the target path according to the abnormal characteristics includes:

[0045] The buffer time is set according to the abnormal feature corresponding to the recognition time; wherein the abnormal feature is the influencing factor that affects the operation of the transfer platform along the target path;

[0046] Calculate the characteristic node closest to the transfer platform at the buffer time and mark it as the reference node; take the reference node as the initial position and re-determine the target path based on the reference index;

[0047] When the abnormal feature is not eliminated at the buffer moment, the vehicle transfer platform is controlled to work according to the re-determined target path; otherwise, it continues to work along the current target path.

[0048] In the present application, when the moving platform is moving along the target path, once an abnormal feature is identified, a buffer time is determined according to the identification time. The buffer time mainly provides a certain amount of time to eliminate the abnormal feature. If the abnormal feature is not eliminated at the buffer time, the warehouse relocation work is completed along the re-determined target path. This ensures that once an emergency occurs, the warehouse relocation path of the moving platform can be dynamically adjusted to avoid interruption of the warehouse relocation work due to an emergency.

[0049] Compared with the prior art, the beneficial effects of this application are:

[0050] 1. This application obtains the comprehensive load of the mobile platform according to the warehouse transfer plan, screens the moving path based on the comprehensive load, and obtains the warehouse transfer path; evaluates and sorts the warehouse transfer path based on reference indicators to obtain the target path library; this application has carried out effective screening and evaluation in terms of load, comprehensive efficiency and safety in the planning of the warehouse transfer path, which can ensure the reliability of the target path.

[0051] 2. This application dynamically controls the moving platform based on the target path library, that is, it identifies abnormal features in real time during the operation of the moving platform. By reasonably setting the buffer moment and redetermining the target path, it can immediately determine the moving direction at the buffer moment, avoiding wasting a lot of time when abnormal features appear, and improving the overall warehouse relocation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 This is a schematic diagram of the multi-path planning method of this application;

[0054] Figure 2 This is a schematic diagram of the migration path between the initial node and the target node of this application. DETAILED DESCRIPTION

[0055] The technical solution of the present application will be described clearly and completely in conjunction with the embodiments below. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0056] See also Figure 1-Figure 2 The first embodiment of the present application provides a multi-path planning method for intelligent vehicle and warehouse relocation, including:

[0057] Determine the initial position and target position of the transfer platform according to the warehouse transfer plan; plan the moving path between the initial position and the target position based on the operating track; the operating track is the track that can be used in the operation area;

[0058] The comprehensive load of the moving platform is obtained according to the warehouse transfer plan, and the moving path is screened based on the comprehensive load to obtain the warehouse transfer path; wherein the comprehensive load is the maximum load of the moving platform during the process of moving the vehicle and moving the warehouse;

[0059] Based on the reference index, the warehouse transfer paths are evaluated and sorted to obtain a target path library; based on the target path library, the transfer platform is dynamically controlled; wherein, the reference index includes index one and index two, index one is used to evaluate the comprehensive efficiency of the warehouse transfer work, and index two is used to evaluate the safety of the warehouse transfer process.

[0060] In the specific implementation process, it is necessary to first extract the established warehouse transfer plan and determine the target location of the warehouse transfer from the warehouse transfer plan. Take the current position of the transfer platform as the initial position, and plan all the moving paths from the initial position to the target position in combination with the running track in the operation area. When planning the moving path, try not to go back as much as possible.

[0061] The initial position is taken as the initial node, the target position is taken as the target node, and other track intersections in the operation area except the initial node and the target node are taken as intermediate nodes. The moving path between the initial node and the target node is planned according to the existing running track. The moving path can include only the initial node and the target node, or it can include multiple intermediate nodes.

[0062] Reference Figure 2 In the figure, the five-pointed star is the initial node (numbered 0), the circle is the intermediate node, the house is the target node (numbered 10), and the black connecting line is the existing available running track in the operation area. The planned track paths are (indicated by numbers): 0-5-10, 0-4-5-10, 0-4-5-6-10, 0-3-5-10, 0-3-5-6-10, 0-3-4-5-10, 0-3-7-10, 0-3-7-6-10, 0-3-2-10, 0-1-2-10, etc., and not all the moving paths in the figure are listed.

[0063] After planning all the track paths, it is necessary to verify the passability of each track path. Because the transfer platform itself is large in size, some track paths have small turning angles, and it is impossible to ensure the safe passage of the transfer platform. Assuming that the distance between intermediate nodes 3 and 4 is particularly small, the transfer platform cannot pass safely, then all the above track paths including 3-4 or 4-3 cannot pass safely, and these track paths are eliminated, and the remaining track paths are used as moving paths.

[0064] After evaluating the passability, it is also necessary to determine whether the moving path can bear the work of the moving platform based on the comprehensive load of the moving platform. The comprehensive load M (moving platform + rail vehicle) of the moving platform is extracted through the warehouse relocation plan, and the maximum acceleration a during the working process of the moving platform is extracted. Then the inertia force F1 is calculated by the formula F1 = M×a. If the maximum load ZDZ of the path segment 4-5 in the moving path 0-4-5-10 is less than the inertia force F1, the moving path 0-4-5-10 cannot ensure that the moving platform can work safely according to the moving plan.

[0065] In some other preferred embodiments, the static load F2 can be calculated by the formula F2=M×g, and the dynamic load can be calculated by the formula Kd=F3 / F2, where Kd is the dynamic coefficient. The maximum value among F1, F2 and F3 is compared with the maximum load in the moving path to determine whether the transfer platform can pass safely.

[0066] After selecting the relocation paths from the perspective of passability and load, this application evaluates and ranks the relocation paths based on reference indicators. The reference indicators mainly include indicator 1 and indicator 2. Indicator 1 is mainly used to evaluate the overall efficiency of the relocation path, and indicator 2 evaluates the risk of the relocation path. You can first evaluate and screen by indicator 1, and then evaluate and screen by indicator 2; you can also first evaluate and screen by indicator 2, and then evaluate and screen by indicator 1.

[0067] Next, taking the example of “evaluating the migration path once based on indicator one to obtain path library one; and evaluating path library one again based on indicator two to obtain the target path library”, the technical solution is elaborated in detail.

[0068] Taking the warehouse migration path 0-1-2-10 as an example, the warehouse migration path can be divided into three path segments: 0-1, 1-2, and 2-10. The segment evaluation coefficient of each path segment is calculated. The segment evaluation coefficient can be calculated by the formula GPX1 = α1×SJ+α2×NH, where SJ is the estimated usage time of the path segment 0-1, NH is the estimated energy consumption of the path segment 0-1, and α1 and α2 are preset weight coefficients.

[0069] Through the above method, GPX1, GPX2 and GPX3 corresponding to the three path segments 0-1, 1-2, and 2-10 can be obtained, and the section evaluation coefficients of the three path segments are superimposed. However, the superposition result cannot be used as the efficiency evaluation coefficient of the warehouse relocation path, because if it is calculated according to the three path segments, then when it is calculated based on time and efficiency, the section evaluation coefficient is obtained by starting from the starting point of the path segment and braking at the end point of the path segment. Relative to the continuous movement of the transfer platform in the warehouse relocation path, the time and energy consumption at the intermediate nodes are calculated more, that is, the sum of the section evaluation coefficients of the three path segments is greater than the efficiency evaluation coefficient of the corresponding warehouse relocation path. The present application calculates the node evaluation coefficient at the intermediate node based on the extra time and energy consumption, and then calculates the efficiency evaluation coefficient of the warehouse relocation path, which can ensure the accuracy of the efficiency evaluation coefficient.

[0070] It should be noted that the additional time and energy consumption at the intermediate nodes can be calculated through historical migration data to obtain the average value, or can be simulated through simulation software.

[0071] When the efficiency evaluation coefficient is less than the evaluation coefficient threshold, the migration path is included in the path library 1. The smaller the efficiency evaluation coefficient, the less time and energy the corresponding migration path consumes, and the less efficiency the path can meet. The evaluation coefficient threshold is mainly used to filter out migration paths that consume a lot of time and energy, and can be set based on experience; of course, when there are a large number of migration paths, the migration paths can also be filtered by the evaluation coefficient threshold.

[0072] After selecting the migration path through indicator one, it is necessary to conduct a security assessment on the selected migration path, that is, to conduct an assessment through indicator two.

[0073] This application first calculates the invasion probability of the intermediate path based on the location characteristics. The location characteristics here mainly refer to the distance between each path segment in the intermediate path and the living area, forest area and other biological activity areas. The invasion probability of each path segment can be assigned by scoring which house to live in, and the invasion probability RGi is obtained. Then extract the historical invasion data corresponding to each path segment, and calculate the invasion weight RQi based on the historical invasion data. The risk assessment coefficient is mainly used to evaluate the probability of invasion of each intermediate path for security assessment.

[0074] This application evaluates the intermediate path through expert scoring and historical intrusion data, which is actually a judgment based on data and experience. If the safety is evaluated only based on historical intrusion data, it is impossible to consider factors such as future environment and climate, resulting in inaccurate safety assessment. If the safety assessment is only conducted through expert scoring, it is impossible to consider the migration work itself, which will also lead to inaccurate safety assessment.

[0075] After comprehensive efficiency and security evaluation, the migration paths that meet the requirements are included in the target path library, and all migration paths in the target path library can be used as the final target paths.

[0076] Based on the joint consideration of safety and comprehensive efficiency, a target path is selected from the target path library. Then the transfer platform is controlled to work along the target path. The joint consideration here can be to consider safety first and then comprehensive efficiency, or to set weight coefficients for safety and comprehensive efficiency to complete the evaluation and screening.

[0077] During the warehouse relocation work, the camera on the moving platform continuously captures the surrounding environment and extracts abnormal features from the captured images. If abnormal features are extracted, the target path is re-determined based on the abnormal features to achieve dynamic control of the moving platform. It should be noted that abnormal features mainly include intruders, intruder obstacles and other factors that affect the normal operation of the moving platform.

[0078] When an abnormal feature is identified, the moment is used as the identification moment. The buffering moment is determined based on the identification moment, and the feature node closest to the transfer platform at the buffering moment is calculated as the reference node. Figure 2 As shown, assume that, for example, when the transfer platform just leaves the intermediate node 3 and moves to the intermediate node 7, an abnormal feature is identified, and the intermediate node 3 can be used as a reference node.

[0079] Then the timing starts. If the abnormal feature is still not eliminated at the buffer moment, a target path is selected from the re-determined target path to continue controlling the moving platform to complete the warehouse relocation. Continuing with the above hypothetical example, after the abnormal feature is identified, the reference node 3 is used as the initial node, and the target node 10 is used to redefine the target path as 3-2-10. If at the buffer moment (or before), if the abnormal feature is eliminated, the warehouse relocation will still be completed along the original target path; if the abnormal feature is still not eliminated at the buffer moment, the moving platform will be controlled to complete the warehouse relocation along the new target path (3-2-10), and the surrounding environment will be continuously monitored and photographed through the camera.

[0080] It is worth noting that the buffering moment in the present application can be obtained by superimposing the recognition moment and the preset duration, or it can be determined based on an evaluation of the overall efficiency.

[0081] In another preferred embodiment, the buffering time is determined based on the comprehensive efficiency evaluation, and the following steps may be referred to:

[0082] Assume that the target path library contains target paths 0-3-7-10, 0-3-2-10, and 0-3-5-10;

[0083] The selected target path is 0-3-7-10. When the transfer platform just leaves the intermediate node 3 and moves to the intermediate node 7, an abnormal feature is identified. At this time, the comprehensive efficiency of the target path 0-3-7-10 will be greater than one of 0-3-2-10 and 0-3-5-10 (the larger the efficiency evaluation coefficient, the smaller the comprehensive efficiency). The buffer time can be obtained by adding the duration and the recognition time. Theoretically, if the abnormal feature is not eliminated at the buffer time, the one with the largest comprehensive efficiency among 0-3-2-10 and 0-3-5-10 is used as the new target path.

[0084] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0085] The above embodiments are only used to illustrate the technical method of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical method of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present application.

Claims

1. A multi-path planning method for intelligent vehicle and warehouse relocation, characterized in that: include: Determine the initial and target positions of the transfer platform according to the warehouse transfer plan; Planning a moving path between an initial position and a target position based on an operating track; wherein the operating track is a track that can be used in the working area; The comprehensive load of the moving platform is obtained according to the warehouse transfer plan, and the moving path is screened based on the comprehensive load to obtain the warehouse transfer path; wherein the comprehensive load is the maximum load of the moving platform during the process of moving the vehicle and moving the warehouse; Based on the reference index, the warehouse transfer paths are evaluated and sorted to obtain a target path library; based on the target path library, the transfer platform is dynamically controlled; wherein, the reference index includes index one and index two, index one is used to evaluate the comprehensive efficiency of the warehouse transfer work, and index two is used to evaluate the safety of the warehouse transfer process.

2. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 1 is characterized in that: The moving path between the initial position and the target position is planned based on the running track, including: Mark the initial position and the target position as the initial node and the target node respectively; All track paths from the initial node to the target node are extracted from the running track; the passability of the track path is evaluated to obtain a moving path; wherein the moving path includes at least an initial node and a target node.

3. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 1 is characterized in that: The screening of the moving path based on the comprehensive load includes: Extract the absolute value of the maximum acceleration of the moving platform during the speed change movement, and the maximum load that can be carried by each moving path; wherein the speed change movement includes the starting process, the braking process or the acceleration process; The inertia load of the transfer platform on the running track is calculated based on the absolute value of the comprehensive load and the maximum acceleration; whether the minimum load of each moving path is greater than the inertia load is determined; if yes, the moving path is recorded as the warehouse transfer path.

4. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 1 is characterized in that: The evaluation and sorting of the migration paths based on the reference indicators includes: Based on indicator 1, the migration path is evaluated once to obtain path library 1; based on indicator 2, path library 1 is evaluated again to obtain the target path library; or Based on indicator 2, the migration path is evaluated once to obtain path library 1; based on indicator 1, path library 1 is evaluated twice to obtain the target path library.

5. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 4 is characterized in that: The migration path is evaluated based on indicator one, including: Divide the migration path into a number of path segments i according to characteristic nodes; wherein i=1, 2, ..., n, n is a positive integer; characteristic nodes include initial nodes, intermediate nodes and target nodes; Calculate the segment evaluation coefficient GPXi of each path segment i based on indicator 1; calculate the efficiency evaluation coefficient ZPX of the warehouse migration path according to the formula ZPX=∑(GPXi)-(i-2)×JPX; where JPX is the node evaluation coefficient corresponding to the intermediate node calculated based on time and energy consumption; where indicator 1 includes energy consumption and time; When the efficiency evaluation coefficient ZPX is less than the evaluation coefficient threshold, the migration path is included in the path library 1.

6. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 5 is characterized in that: The second evaluation of the path library 1 based on the indicator 2 includes: Extract the migration path in path library 1 and mark it as the intermediate path; extract the location features and historical intrusion data in indicator 2; Calculate the intrusion probability RGi of the intermediate path corresponding to the plurality of path segments i based on the position features, and calculate the intrusion weight RQi of the intermediate path corresponding to the plurality of path segments i based on the historical intrusion data; The risk assessment coefficient FPX of the intermediate path is calculated by the formula FPX=∑(RQi×RGi); when the risk assessment coefficient FPX is less than the risk assessment threshold, the corresponding intermediate path is included in the target path library.

7. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 1 is characterized in that: The dynamic control of the vehicle transfer platform based on the target path library includes: Based on the efficiency evaluation coefficient ZPX and the risk evaluation coefficient FPX, a warehouse transfer path is selected from the target path library, and the warehouse transfer path is used as the target path; The vehicle transfer platform is controlled to work along the target path, and at the same time, the environmental image is collected in real time through the vehicle transfer platform; abnormal features are identified based on the environmental image, and the target path is re-determined according to the abnormal features to achieve dynamic control.

8. The multi-path planning method for intelligent vehicle and warehouse relocation according to claim 7 is characterized in that: The re-determining the target path according to the abnormal characteristics includes: The buffer time is set according to the abnormal feature corresponding to the recognition time; wherein the abnormal feature is the influencing factor that affects the operation of the transfer platform along the target path; Calculate the characteristic node closest to the transfer platform at the buffer time and mark it as the reference node; take the reference node as the initial position and re-determine the target path based on the reference index; When the abnormal feature is not eliminated at the buffer moment, the vehicle transfer platform is controlled to work according to the re-determined target path; otherwise, it continues to work along the current target path.

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