Internet-based material handling system

Abstract

The invention discloses a material handling system based on the Internet, and relates to the technical field of material handling, the material handling system comprises a control center, the control center is in communication connection with a database, an input module, a selection module, a planning module and an obstacle avoidance module; a storage area map of a storage area is constructed, basic information of materials needing to be carried is input in an input module, a material carrying destination is determined according to the basic information of the materials, and a planning module plans a carrying route of a carrying vehicle according to a material carrying starting point and the material carrying destination. Obstacles encountered in the material carrying process are avoided through the obstacle avoidance module; automatic carrying of materials is achieved, manual operation in the carrying process is reduced, the production cost is reduced, the distribution efficiency of the material carrying system is improved, accidents in the carrying process are reduced, and the safety of material carrying is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material handling, and in particular to an Internet-based material handling system. Background Art

[0002] With the rapid development of the logistics industry and the continuous upgrading of product forms, the material handling equipment industry has become a rapidly developing emerging market. At present, the global material handling equipment industry market size has exceeded 1 trillion US dollars, and the logistics industry has a good development momentum, which provides a broad market space for the development of the material handling equipment industry. The modern logistics industry has the strongest demand for handling equipment, and the market size continues to expand. In addition to the heavy industry, automobile, food and medicine industries, there is a large demand for handling equipment in the retail industry such as supermarkets and e-commerce, and the service industry such as express delivery and logistics. The demand for handling equipment is also increasing; and the existing material handling systems are mostly manual trailer handling. After long-term operation, the production and distribution efficiency is greatly reduced, the error rate is increased, and major safety hazards are prone to occur when handling large goods; or automatic transmission and handling of materials also has the disadvantages of requiring manual operation of the console, high production cost, and no reduction in the number of workers. Therefore, it is of great theoretical and practical significance to optimize and upgrade the material handling system.

[0003] How to use material handling technology to build a storage area map for the storage area where materials are stored, collect basic information about the materials being transported, determine the destination based on the basic information, plan the transportation route for the transport vehicle, obtain the optimal transportation route, and avoid obstacles on the optimal transportation route in advance to ensure that there are no obstacles during the transportation process is a problem we need to solve; for this purpose, an Internet-based material handling system is now provided. Summary of the invention

[0004] The purpose of the present invention is to provide a material handling system based on the Internet.

[0005] The purpose of the present invention can be achieved through the following technical solutions: An Internet-based material handling system includes a control center, wherein the control center is communicatively connected to a database, an input module, a selection module, a planning module, and an obstacle avoidance module; The database includes a first storage module for storing a storage area map and a second storage module for storing transport vehicle information; The construction of the storage area map includes: According to the actual situation of the storage area, a corresponding storage area map is constructed, wherein the storage area includes a plurality of storage areas and accessible routes; A plurality of route nodes are arranged on the traversable route; The storage area has at least one entrance and one exit, and both the exit and the entrance are connected to the communication route; Importing corresponding simulation information into the constructed storage area map, wherein the simulation information includes storage area information and route information; The storage area information includes the area number and the list of materials that can be stored; The material list includes material names and the maximum quantity of the materials that can be stored.

[0006] The basic information of the material includes the material name, the material handling quantity and the material location; the obtained basic information of the material is uploaded to the transport vehicle; Mark the location of the material at the corresponding position on the storage area map, and obtain the accessible route from the location of the material to the entrance of the storage area and the distance of the accessible route.

[0007] The process of determining the material handling destination by the selection module includes: Match the input material name with the material list in the storage area information of each storage area, and if the material list in the storage area information of the storage area contains the input material name, mark the storage area as an alternative storage area; Obtain the current quantity of materials in the alternative storage area, and obtain the storage capacity of the alternative storage area according to the difference between the maximum quantity of materials that can be stored in the alternative storage area and the current quantity of materials in the alternative storage area; According to the storage capacity of the candidate storage area being greater than the material handling quantity, a difference between the storage capacity and the material handling quantity is obtained; According to the obtained storage area map, the distance from the candidate area to the storage area entrance is obtained, and the selection weight of the candidate storage area is obtained according to the obtained distance from the candidate storage area to the storage area entrance and the difference between the storage capacity and the material handling quantity; The obtained selection weights are sorted from large to small, and the candidate storage area with the largest selection weight is marked as the transportation destination.

[0008] The process of the planning module planning the transportation route of the material to be transported from the material location to the entrance of the storage area includes: The time required for the transport vehicle to transport the materials from the material location to the storage area entrance is obtained based on the available routes from the material location to the storage area entrance and the distance of the available routes; According to the time required to transport the material from its location to the entrance of the storage area, obtain the transport vehicles that have the same time required to transport the material from its location to the entrance of the storage area, and mark the transport vehicles with the same time required; Set a delay time threshold, and delay the departure of each truck after the first one by one by a delay time threshold, and mark the entrance of the storage area that it arrives at as the starting point of transportation.

[0009] The process of the planning module planning a transportation route for the material to be transported from the transportation starting point to the material transportation destination includes: Mark the obtained transport starting point and transport destination on the storage area map, obtain the passable route between the transport starting point and the transport destination based on the collected passable routes, mark it as the target transport route, and mark the route nodes in the target transport route as target nodes; According to the obtained target transport route and target node, a route between two adjacent target nodes in the direction from the transport starting point to the transport destination is obtained, the route between the two adjacent target nodes is marked as a node segment, and the route length of the node segment is obtained; A speed index is obtained according to the obtained material handling quantity and the route length of the node segment of the target handling route, and a time for the transport vehicle to travel on the node segment is obtained according to the obtained speed index and the route length of the node segment; According to the target transport routes traveled by the several transport vehicles, the repeated node segments of the several transport vehicles are obtained, and the target nodes contained in the repeated node segments are marked as transport nodes; Obtaining the transport intersection points in sequence according to the transport direction of the transport vehicle, and obtaining the travel time of the transport vehicle from the transport starting point to the transport intersection points based on the obtained transport intersection points and the time when the transport vehicle travels on the repeated node segments; If the travel time of several transport trucks from the transport starting point to the transport intersection is the same, the transport trucks will meet at the transport intersection, and the transport starting point where they meet will be marked, the number of transport trucks at the transport intersection where they meet and the number of transport trucks at the remaining target nodes excluding the transport intersection where they meet will be recorded, and the transport routes of several transport trucks that meet at the same transport intersection will be pre-selected.

[0010] The process of pre-selecting routes for transport vehicles that meet at the same transport intersection includes: According to the obtained node segments of the target transport route between the transport starting point and the transport intersection, the travel time of the transport vehicle traveling on all the node segments between the transport starting point and the transport intersection; Obtaining a preferred index of the target transport route according to the obtained number of transport vehicles at the transport nodes that are met, the number of transport vehicles at the remaining target nodes after removing the transport intersections that are met, the travel time of the transport vehicles traveling through all node segments between the transport starting point and the transport intersections that are met, and the distance of the target transport route; The preference indexes are sorted from large to small, and the target transport route corresponding to the first-ranked preference index is marked as the optimal transport route, and the optimal transport route is uploaded to the transport vehicle.

[0011] The process of the obstacle avoidance module avoiding obstacles encountered during the transportation process includes: Scanning the driving direction of the transporter by laser scanning to obtain scanning information, wherein the scanning information includes whether there is an obstacle in the driving direction of the transporter, whether there is no obstacle in the driving direction of the transporter, and the distance from the obstacle in the driving direction of the transporter to the transporter; If the scanned information shows that there is an obstacle in the direction of the transporter, the distance from the obstacle in the direction of the transporter to the transporter is marked as the distance to be measured; Mark the obstacle on the optimal transport route of the storage area map, send a clearing request to the control center, and mark the time from receiving the clearing request to clearing the obstacle as T3; The time when the transport vehicle reaches the obstacle is obtained according to the obtained measured distance and speed index, and the obtained time when the transport vehicle reaches the obstacle is marked as T0. For the optimal transport route of the node segment containing the obstacle when T3>T0, an obstacle avoidance target transport route is selected, and the obstacle avoidance priority index is obtained according to the obtained target transport route and the priority index. The obstacle avoidance target transport route with the highest obstacle avoidance priority index is selected for material transportation, and this obstacle avoidance target transport route is marked as the obstacle avoidance optimal transport route, and the obstacle avoidance optimal transport route is uploaded to the transport vehicle.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: by constructing a storage area map of the storage area and inputting basic information of the materials to be transported, the material transport destination is determined according to the input basic information of the materials; and during the transport process, the transport route from the location of the material to the entrance of the storage area is first determined, and then the transport route between the entrance of the storage area and the material transport destination is planned to obtain the optimal transport route, shorten the transport time during the material transport process, improve the transport efficiency of the material transport, reduce manual operations during the transport process, and reduce production costs; By scanning obstacles that appear during material handling, the obstacles are handled to achieve barrier-free handling, reduce the occurrence of accidents during the handling process, and improve the safety of material handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a schematic diagram of the present invention. DETAILED DESCRIPTION

[0015] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] like Figure 1 As shown, an Internet-based material handling system includes a control center, wherein the control center is communicatively connected to a database, an input module, a selection module, a planning module, and an obstacle avoidance module; The database includes a first storage module for storing a storage area map and a second storage module for storing transport vehicle information; The construction process of the storage area map includes: According to the actual situation of the storage area, set up the storage area, storage area entrance and exit, lay magnetic strips on the road surface of the non-storage area in the storage area, and extend the magnetic strips to the storage area entrance and exit, obtain the passable track from the entrance to the storage area and from the storage area to the exit in the storage area according to the magnetic strip track, and mark it as a passable route; It should be further explained that, in the specific implementation process, the storage area is provided with at least one entrance and exit, and both the entrance and exit are connected to the passable route; According to the obtained storage area, the storage area is numbered to obtain the area number, which is marked as b, where b=1, 2, 3, ..., g1; the storage area information includes the area number and a list of materials that can be stored; the list of materials includes the material name and the maximum number of materials that can be stored; Construct a storage area map, mark the storage area on the storage area map, mark the obtained traversable routes on the storage area map, and mark the nodes where several traversable routes intersect as route nodes; Importing corresponding simulation information into the constructed storage area map, wherein the simulation information includes storage area information and route information; Material transportation is achieved through a transport vehicle, the transport vehicle is numbered and recorded as k, where k=1, 2, 3, ..., g2, and the obtained transport vehicle information is stored in the second storage module; The input module is used to input the basic information of the materials to be transported. The specific process includes: An input unit is provided, wherein the input unit is used to input basic information of the material to be transported, wherein the basic information includes the material name, the material transport quantity and the material location. The material transport quantity is marked as W k , and upload the basic information of the materials to be transported to the transport vehicle; Mark the location of the material on the corresponding position of the storage area map, obtain the accessible route from the location of the material to the entrance of the storage area and the distance of the accessible route, and mark the distance of the accessible route as D k ; The process of the selection module for determining the material handling destination includes: Match the input material name with the material list in the storage area information of each storage area. If the material list in the storage area information of the storage area contains the input material name, mark the storage area as a candidate storage area, and mark the obtained candidate storage area as e, where e=1, 2, 3, ..., g3; At the same time, the number of existing materials in the alternative storage area is obtained, and the storage capacity of the alternative storage area is obtained according to the difference between the maximum number of materials that can be stored in the alternative storage area and the number of existing materials in the alternative storage area; Select an alternative storage area whose storage capacity is greater than the material handling quantity, calculate the difference between the storage capacity and the material handling quantity, and mark it as R e ; According to the obtained storage area map, obtain the distance from the candidate storage area to the storage area entrance and mark it as Q e ; The selection weight of the candidate storage area is obtained based on the distance from the candidate storage area to the entrance of the storage area and the difference between the storage capacity and the material handling quantity, and the obtained selection weight of the candidate storage area is marked as XZ e , where XZ e = , To adjust the weight scaling factor, and is the offset parameter; The obtained selection weights are sorted from large to small, and the candidate storage area with the largest selection weight is marked as the transportation destination.

[0017] The planning module includes a first planning module and a second planning module. The first planning module is used to plan a transportation route for the materials to be transported from the location to the entrance of the storage area, and mark the entrance of the storage area as the transportation starting point; the second planning module is used to plan a transportation route for the materials to be transported from the transportation starting point to the material transportation destination; The planning process of the first planning module includes: According to the obtained storage area map, the distance of the traversable route from the material location to the storage area entrance is obtained, and the time required for the transport vehicle to transport the material from the material location to the storage area entrance is obtained, which is marked as Tm, where Tm= , Vm is the maximum transport speed of the transport vehicle; According to the time required for transporting the material from its location to the entrance of the storage area, obtain the transport vehicles that have the same time required for transporting the material from its location to the entrance of the storage area, which means that the transport vehicles will meet during the transportation process. Mark the transport vehicles with the same time required, and mark them as a1, a2, a3, ... in sequence; set the delay time threshold Tm0, a1 starts the transportation normally, then a2 is delayed by Tm0 for transportation, and a3 is delayed by Tm0 again after a2 is delayed for transportation, and the transport vehicles after a3 are delayed in sequence. After arriving at the entrance of the storage area, mark the entrance of the storage area as the transportation starting point; The planning process of the second planning module includes: Mark the obtained transport starting point and transport destination on the storage area map, obtain the passable route between the transport starting point and the transport destination according to the collected passable routes, mark it as the target transport route, and mark the target transport route as i, where i=1, 2, 3, ..., g4; Marking a route node in the target transport route as a target node; According to the obtained target transport route and target node, the route between two adjacent target nodes in the direction from the transport starting point to the transport destination is obtained, and the route between two adjacent target nodes is marked as a node segment, denoted as ∆j, where j is the target node, j=1, 2, 3, ..., g5, and the route length of the node segment is obtained, and the route length of the node segment is marked as a ∆j ; The target transport route consists of several node segments, and the target transport route is marked as set C i , where Ci={ },but is the first Node segment; The speed index is obtained based on the obtained material handling quantity and the route length of the node segment, and the obtained speed index is marked as ZV k ,in , β represents the weight index, with a value of [0.01, 0.99], and V0 represents the number of materials transported by the transport vehicle W k =0 and there is only one transport vehicle on the target transport route; The time that the transport vehicle travels on the node segment is obtained based on the obtained speed index and the route length of the node segment, and the obtained time that the transport vehicle travels on the node segment is marked as T k-j , where T k-j = , is the maximum transport speed of the transport vehicle, then the transport time of the target transport route is T i = ; According to the target transport route of k transport vehicles, the repeated node segments of several transport vehicles are obtained, and the repeated target nodes are obtained according to the repeated node segments, which are marked as transport intersections, denoted as f, where f=1, 2, 3, ..., g6; and the number of transport vehicles with the same transport intersection is counted, which is marked as m; The transport intersections are obtained in sequence along the transport direction of the transport vehicle. According to the obtained transport intersections and the time the transport vehicle travels on the repeated node segments, the travel time from the transport starting point to the transport intersection is obtained in sequence, and the travel time is marked as t f , where t f = ; If the travel time of several transport vehicles from the transport starting point to the transport intersection is the same, it means that the transport vehicles meet at the transport intersection, and the transport intersection where they meet is marked as n, where n=1, 2, 3, ..., g7; Record the number of transport vehicles that meet at the transport intersection and mark it as M n , and at the same time obtain the number of transport vehicles of the remaining target nodes after removing the transport intersections encountered, and mark it as M j '; And pre-select the transport routes of several transport vehicles that meet at the same transport intersection; Get the node segments of the target transport route between the transport starting point and the transport intersection point, calculate the travel time of the transport vehicle in all the node segments between the transport starting point and the transport intersection point, and mark it as T i '= ; The preferred index of the target transport route is obtained based on the number of transport vehicles that meet the same transport node, the time the transport vehicle travels on the node segment, and the distance of the target transport route, and the obtained preferred index of the target transport route is marked as Z. i , where Z i = + , Indicates the complexity of the target transport route, with a value of [1.00, 1.99]; The preferred indexes are sorted from large to small, and the target transport route corresponding to the preferred index ranked first is marked as the optimal transport route, and the optimal transport route is uploaded to the transport vehicle, and the transport vehicle travels according to the optimal transport route; The obstacle avoidance module is used to avoid obstacles encountered during material handling. The specific process includes: Scanning the driving direction of the transporter by laser scanning to obtain scanning information, wherein the scanning information includes whether there is an obstacle in the driving direction of the transporter, whether there is no obstacle in the driving direction of the transporter, and the distance from the obstacle in the driving direction of the transporter to the transporter; If the scan information shows that there is an obstacle in the direction of the transporter, the distance from the obstacle in the direction of the transporter to the transporter is marked as the distance to be measured, recorded as JL; Mark the obstacle on the optimal transportation route of the storage area map and mark it as a flashing red dot. Send a clearing request to the control center. The control center receives the clearing request and notifies the material handling manager to clear the obstacle. Record the time from when the red dot on the storage area map starts flashing to when the obstacle is cleared, and mark it as T3. The time it takes for the transport vehicle to reach the obstacle is obtained based on the obtained measured distance and speed index, and the time it takes for the transport vehicle to reach the obstacle is marked as T0, where T0= , compare T3 and T0. If T3≤T0, the transport vehicle continues to travel on the optimal transport route; When T3>T0, when the transport vehicle drives to an obstacle, the obstacle is not cleared, indicating that this route is blocked. According to the location of the obstacle, the target node closest to the transport vehicle is selected from the target nodes of the target transport route, and the target transport route that can reach the transport destination after this target node is marked as the obstacle avoidance target transport route; Obtain the obstacle avoidance preference index according to the obtained target transport route and the preference index, and mark the obtained obstacle avoidance preference index as Z i ', where Z i '=Z i * ; The obtained obstacle avoidance optimization indexes are sorted in descending order, and the obstacle avoidance target transportation route with the highest obstacle avoidance optimization index is selected for material transportation. This obstacle avoidance target transportation route is recorded as the obstacle avoidance optimal transportation route, and the vehicle continues to travel on the obstacle avoidance optimal transportation route after the target node.

[0018] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An Internet-based material handling system, comprising a control center, characterized in that: The control center is communicatively connected to a database, an input module, a selection module, a planning module and an obstacle avoidance module; The database includes a first storage module for storing a storage area map and a second storage module for storing transport vehicle information; The input module is used to input basic information of the materials to be transported; The selection module is used to determine the material transportation destination according to the basic information of the material input by the input module; The planning module is used to plan the transport route of the transport vehicle according to the location of the material to be transported and the material transport destination; The obstacle avoidance module is used to avoid obstacles encountered during material handling.

2. The Internet-based material handling system according to claim 1, characterized in that: The construction of the storage area map includes: According to the actual situation of the storage area, a corresponding storage area map is constructed, wherein the storage area includes a plurality of storage areas and accessible routes; A plurality of route nodes are arranged on the traversable route; The storage area has at least one entrance and one exit, and both the exit and the entrance are connected to the communication route; Importing corresponding simulation information into the constructed storage area map, wherein the simulation information includes storage area information and route information; The storage area information includes the area number and the list of materials that can be stored; The material list includes material names and the maximum quantity of the materials that can be stored.

3. The Internet-based material handling system according to claim 2, characterized in that: The basic information of the material includes the material name, the material handling quantity and the material location; the obtained basic information of the material is uploaded to the transport vehicle; Mark the location of the material at the corresponding position on the storage area map, and obtain the accessible route from the location of the material to the entrance of the storage area and the distance of the accessible route.

4. The Internet-based material handling system according to claim 3, characterized in that: The process of determining the material handling destination by the selection module includes: Match the input material name with the material list in the storage area information of each storage area, and if the material list in the storage area information of the storage area contains the input material name, mark the storage area as an alternative storage area; Obtain the current quantity of materials in the alternative storage area, and obtain the storage capacity of the alternative storage area according to the difference between the maximum quantity of materials that can be stored in the alternative storage area and the current quantity of materials in the alternative storage area; According to the storage capacity of the candidate storage area being greater than the material handling quantity, a difference between the storage capacity and the material handling quantity is obtained; According to the obtained storage area map, the distance from the candidate area to the storage area entrance is obtained, and the selection weight of the candidate storage area is obtained according to the obtained distance from the candidate storage area to the storage area entrance and the difference between the storage capacity and the material handling quantity; The obtained selection weights are sorted from large to small, and the candidate storage area with the largest selection weight is marked as the transportation destination.

5. The Internet-based material handling system according to claim 4, characterized in that: The process of the planning module planning the transportation route of the material to be transported from the material location to the entrance of the storage area includes: The time required for the transport vehicle to transport the materials from the material location to the storage area entrance is obtained based on the available routes from the material location to the storage area entrance and the distance of the available routes; According to the time required to transport the material from its location to the entrance of the storage area, obtain the transport vehicles that have the same time required to transport the material from its location to the entrance of the storage area, and mark the transport vehicles with the same time required; Set a delay time threshold, and delay the departure of each truck after the first one by one by a delay time threshold, and mark the entrance of the storage area that it arrives at as the starting point of transportation.

6. The Internet-based material handling system according to claim 5, characterized in that: The process of the planning module planning a transportation route for the material to be transported from the transportation starting point to the material transportation destination includes: Mark the obtained transport starting point and transport destination on the storage area map, obtain the passable route between the transport starting point and the transport destination based on the collected passable routes, mark it as the target transport route, and mark the route nodes in the target transport route as target nodes; According to the obtained target transport route and target node, a route between two adjacent target nodes in the direction from the transport starting point to the transport destination is obtained, the route between the two adjacent target nodes is marked as a node segment, and the route length of the node segment is obtained; A speed index is obtained according to the obtained material handling quantity and the route length of the node segment of the target handling route, and a time for the transport vehicle to travel on the node segment is obtained according to the obtained speed index and the route length of the node segment; According to the target transport routes traveled by the several transport vehicles, the repeated node segments of the several transport vehicles are obtained, and the target nodes contained in the repeated node segments are marked as transport nodes; Obtaining the transport intersection points in sequence according to the transport direction of the transport vehicle, and obtaining the travel time of the transport vehicle from the transport starting point to the transport intersection points based on the obtained transport intersection points and the time when the transport vehicle travels on the repeated node segments; If the travel time of several transport trucks from the transport starting point to the transport intersection is the same, the transport trucks will meet at the transport intersection, and the transport starting point where they meet will be marked, the number of transport trucks at the transport intersection where they meet and the number of transport trucks at the remaining target nodes excluding the transport intersection where they meet will be recorded, and the transport routes of several transport trucks that meet at the same transport intersection will be pre-selected.

7. The Internet-based material handling system according to claim 6, characterized in that: The process of pre-selecting routes for transport vehicles that meet at the same transport intersection includes: According to the obtained node segments of the target transport route between the transport starting point and the transport intersection, the travel time of the transport vehicle traveling on all the node segments between the transport starting point and the transport intersection; Obtaining a preferred index of the target transport route according to the obtained number of transport vehicles at the transport nodes that are met, the number of transport vehicles at the remaining target nodes after removing the transport intersections that are met, the travel time of the transport vehicles traveling through all node segments between the transport starting point and the transport intersections that are met, and the distance of the target transport route; The preference indexes are sorted from large to small, and the target transport route corresponding to the first-ranked preference index is marked as the optimal transport route, and the optimal transport route is uploaded to the transport vehicle.

8. The Internet-based material handling system according to claim 7, characterized in that: The process of the obstacle avoidance module avoiding obstacles encountered during the transportation process includes: Scanning the driving direction of the transporter by laser scanning to obtain scanning information, wherein the scanning information includes whether there is an obstacle in the driving direction of the transporter, whether there is no obstacle in the driving direction of the transporter, and the distance from the obstacle in the driving direction of the transporter to the transporter; If the scanned information shows that there is an obstacle in the direction of the transporter, the distance from the obstacle in the direction of the transporter to the transporter is marked as the distance to be measured; Mark the obstacle on the optimal transport route of the storage area map, send a clearing request to the control center, and mark the time from receiving the clearing request to clearing the obstacle as T3; The time when the transport vehicle reaches the obstacle is obtained according to the obtained measured distance and speed index, and the obtained time when the transport vehicle reaches the obstacle is marked as T0. For the optimal transport route of the node segment containing the obstacle when T3>T0, an obstacle avoidance target transport route is selected, and the obstacle avoidance priority index is obtained according to the obtained target transport route and the priority index. The obstacle avoidance target transport route with the highest obstacle avoidance priority index is selected for material transportation, and this obstacle avoidance target transport route is marked as the obstacle avoidance optimal transport route, and the obstacle avoidance optimal transport route is uploaded to the transport vehicle.

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