A Path Planning Method Based on Distributed Dynamic Road Network

Abstract

The present invention relates to the field of road traffic technology, and specifically discloses a path planning method based on a distributed dynamic road network, comprising the following steps: initialization, local path planning, global path planning, real-time updating and adjustment, and result return and termination. A road condition auxiliary monitoring device is used in the real-time updating and adjustment step, and the road condition auxiliary monitoring device comprises: a bottom shell, an aerial road condition monitoring mechanism, a control console, a trough, a warning roadblock delivery mechanism, a guardrail passageway, a drive module, and a road condition camera. The calculation speed of local path planning is improved, the user waiting time is reduced, and the future road conditions are predicted, and the local path planning is pre-planned in advance. When the road conditions change, it can respond quickly, monitor the real-time congestion level and congestion causes of the roads with blind spots, provide a more reliable basis for path planning, and thus improve the accuracy and adaptability of path planning.

Description

Technical Field

[0001] The present invention relates to the technical field of road traffic, and in particular to a path planning method based on a distributed dynamic road network. Background Art

[0002] Path planning for distributed dynamic road networks is an advanced technology developed on the basis of traditional path planning. Traditional path planning has limitations. Centralized path planning has high computational load and slow response when dealing with large-scale road networks. Moreover, it cannot reflect real-time road conditions based on static road network models. With the development of computer technology, distributed computing technology has brought new ideas to path planning. Its distributed system architecture can divide the road network into sub-areas, which are processed by local computing nodes, and improve efficiency through parallel computing and collaborative processing. At the same time, real-time traffic data collection and processing technology also provides support for it. Traffic sensor networks collect road condition information, which is used for path planning after data fusion and preprocessing. In addition, intelligent optimization algorithms play an important role in this. Heuristic search algorithms guide the search direction. Machine learning and deep learning algorithms can explore traffic patterns, predict road conditions, and provide personalized services.

[0003] In the existing technical field, traditional path planning has a slow calculation planning method and response speed when facing large-scale complex road networks. Since it is planned based on current road conditions, it lacks the ability to predict and respond to future road conditions. In addition, existing path planning relies on limited traffic camera monitoring data, with a single source of information and due to blind spots in the camera, it is unable to adapt to real-time road conditions, and the judgment of road conditions is not comprehensive and accurate enough. Summary of the invention

[0004] The purpose of the present invention is to provide a path planning method based on a distributed dynamic road network to solve the problems mentioned in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a path planning method based on a distributed dynamic road network, comprising the following steps:

[0006] Step 1. Initialization, including:

[0007] Road network partitioning and node allocation: A hybrid partitioning method based on cluster analysis and traffic flow distribution is used to divide the entire road network into multiple non-overlapping sub-areas, and a local computing node is assigned to each sub-area;

[0008] Initialize local computing nodes, build local road network model, and initialize dynamic information table to record real-time status information;

[0009] Initialize the global coordinator, establish communication connections with each local computing node, create a global path planning task queue, initialize the global road network topology, and introduce a machine learning model to initialize road condition prediction;

[0010] Step 2. Local path planning: Receive the path planning request, map the coordinates of the starting point and the target point to the local road network model nodes, perform local path planning calculations based on the dynamic information table and travel preferences, and send the results to the global coordinator;

[0011] Step 3. Global path planning: The global coordinator receives and caches local path planning results, requests local path planning results from adjacent areas, splices and evaluates the paths, and continuously expands the paths to the target area until a global optimal path from the starting point to the target point is formed;

[0012] Step 4. Real-time update and adjustment: The local computing node monitors the road conditions in real time, uses the road condition auxiliary monitoring device to monitor the blind spot area in real time, updates the dynamic information table, triggers the recalculation of the local path planning, and the global coordinator dynamically adjusts the global path according to the real-time information and the latest local path planning results;

[0013] Step 5. Result return and end: The global coordinator returns the global optimal path information to the vehicle or user who initiated the path planning request, and cleans up temporary data and resources after the task is completed.

[0014] Preferably, the auxiliary road condition monitoring device includes: a bottom shell, an aerial road condition monitoring mechanism, a control console, a trough, a warning roadblock delivery mechanism, a guardrail passageway, a driving module and a road condition camera; the aerial road condition monitoring mechanism is arranged on the top of the bottom shell; the control console is installed in the middle of the right side of the bottom shell; the number of the trough bodies is two groups, the number of the trough bodies in each group is two, and the two groups of trough bodies are respectively opened on the top of the front and rear ends of the left and right sides of the inner side of the bottom shell; the number of the warning roadblock delivery mechanisms is two, and the two warning roadblock delivery mechanisms are respectively on the inner sides of the two groups of trough bodies; the guardrail passageway is opened at the middle bottom end of the bottom shell along the front and rear direction; the number of the driving modules is four, and the four driving modules are respectively installed at the four corners of the outer side of the bottom shell, and the driving module is electrically connected to the control console; the road condition camera is installed on the front top of the aerial road condition monitoring mechanism, and the road condition camera is electrically connected to the control console.

[0015] Preferably, the aerial road condition monitoring mechanism includes: a storage box, a battery module, a navigation camera and a flight monitoring component; the storage box is installed on the top of the bottom shell along the front-to-back direction; the battery module is arranged in the middle of the inner cavity of the storage box, the battery module extends out of the storage box, and the battery module is electrically connected to the control console; the number of the navigation cameras is four, and the four navigation cameras are respectively installed on the front and rear sides of the middle of the top of the battery module, and the navigation camera is electrically connected to the control console; the number of the flight monitoring components is two, and the two flight monitoring components are respectively installed on the front and rear sides of the inner cavity of the storage box.

[0016] Preferably, the flight monitoring component includes: an electric door, a vertical frame, a first pulley seat, a first motor, a first belt, a first guide rail assembly and a first frame; the electric door is installed at the top opening of the inner cavity of the storage box, and the electric door is electrically connected to the control console; the number of the vertical frames is two, and the two vertical frames are installed at the left and right ends of the outer side of the bottom end of the electric door in the up and down directions respectively; the number of the first pulley seats is two groups, and the number of the first pulley seats in each group is two, and the two groups of the first pulley seats are installed on the upper and lower sides of the outside of the left and right vertical frames respectively; the number of the first motors is two, and the two first motors are installed on the left and right At the outer bottom of the two vertical frames, the rotating ends of the two left and right first motors are respectively connected to the axles of the bottom first pulley seats of the left and right groups, and the first motors are electrically connected to the control console; the number of the first belts is two, and the two first belts are respectively sleeved on the outside of the left and right groups of first pulley seats along the up and down directions; the number of the first guide rail assemblies is two, and the two first guide rail assemblies are respectively installed on the rear sides of the left and right vertical frames along the up and down directions; the first platform is installed on the inner sides of the limit ends of the two left and right first guide rail assemblies along the left and right directions, and the left and right sides of the first platform are respectively connected to the belt surfaces on one side of the left and right first belts.

[0017] Preferably, the flight monitoring component also includes: a first mounting frame, a second pulley seat, a second motor, a second belt and a second guide rail assembly; the first mounting frame is installed in the middle inner side of the first belt along the up-down direction; the number of the second pulley seats is two, and the two second pulley seats are respectively installed at the upper and lower ends of the inner side of the first mounting frame; the second motor is installed on the top of the first mounting frame, the rotating end of the second motor is connected to the axis of the top second pulley seat, and the second motor is electrically connected to the control console; the second belt is sleeved on the outside of the upper and lower second pulley seats along the up-down direction; the number of the second guide rail assemblies is two, and the two second guide rail assemblies are respectively installed at the left and right ends of the inner side of the first mounting frame along the up-down direction.

[0018] Preferably, the flight monitoring component also includes: a second gantry, a second mounting frame, a first electric telescopic rod, a take-off and landing platform, a slot seat, a second electric telescopic rod, a fixing frame, a monitoring drone, a three-axis mobile platform and a wireless charging module; the second gantry is installed on the inner side of the limit ends of the left and right two groups of second guide rail assemblies along the left and right directions, and the outer end of the second gantry is connected to the belt surface of one side of the second belt; the second mounting frame is rotatably connected to the inner top end of the second gantry through a rotating shaft; the number of the first electric telescopic rods is two, and one end of the two first electric telescopic rods is rotatably installed on the left and right sides of the inner bottom end of the second gantry through the rotating shaft seat, and the other ends of the two first electric telescopic rods are rotatably connected to the left and right sides of the bottom end of the second mounting frame through the rotating shaft seat, and the first electric telescopic rod is electrically connected to the control console; the take-off and landing platform is installed on the top of the second mounting frame; the number of the slot seats is four, and the four slot seats are installed on the take-off and landing platform The inner cavity of the slide groove of the slot seat is obliquely opened on the left and right ends and the front and back sides of the outer side of the landing platform; the number of the second electric telescopic rods is four, and the four second electric telescopic rods are installed at the four corners of the bottom end of the landing and taking-off platform, and the second electric telescopic rod is electrically connected to the control console; the number of the fixed frames is four, and the four fixed frames are respectively plugged into the inner sides of the four slot seats, and the telescopic ends of the four second electric telescopic rods are respectively connected to the inner bottom ends of the four fixed frames, and the shape of the fixed frames is L-shaped; the monitoring drone is placed on the surface of the landing and taking-off platform, and the monitoring drone is remotely connected to the control console through the network; the three-axis mobile platform is installed in the inner cavity of the storage box and is located on the inner side of the first mounting frame, and the three-axis mobile platform is electrically connected to the control console; the wireless charging module is installed on the outer side of the mobile end of the three-axis mobile platform, and the wireless charging module is electrically connected to the battery module, and the wireless charging module is electrically connected to the control console.

[0019] Preferably, the warning roadblock delivery mechanism comprises: a transverse axis seat, a guide rail, a sprocket, a third motor, a chain, a roller frame, a third mounting frame, a rotating module, a slot frame, a slot body frame, a third electric telescopic rod, a fourth electric telescopic rod, a multi-axis robotic arm, a clamping module and a warning roadblock storage component; the number of the transverse axis seats is two, and the two transverse axis seats are respectively installed in the inner cavity of the bottom shell and located above the inner sides of the front and rear slots; the number of the guide rails is two, and the two guide rails are respectively installed on the left and right sides of the inner wall of the bottom shell along the front and rear directions; the There are two groups of sprockets, each group has two sprockets, and the two groups of sprockets are respectively installed on the left and right sides of the outer wall of the axis of the front and rear transverse shaft seats; the third motor is installed on the top of the rear side of the inner cavity of the bottom shell, the rotating end of the third motor is connected to the axis of the rear transverse shaft seat, and the third motor is electrically connected to the control console; there are two chains, and the two chains are respectively meshed on the outer sides of the left and right groups of sprockets along the front and rear directions; the roller frame is installed on the inner side of the left and right guide rails along the left and right directions, and the left and right sides of the roller frame are respectively connected to The tops of the left and right chains are connected; the third mounting frame is mounted on the bottom of the roller frame; the rotating module is arranged at the bottom opening of the third mounting frame, and the rotating module is electrically connected to the control console; the slot frame is arranged at the bottom of the rotating end of the rotating module along the up-down direction; the slot frame is plugged into the inner side of the slot frame along the up-down direction; the third electric telescopic rod is mounted on the top of the rear side of the slot frame along the up-down direction, the telescopic end of the third electric telescopic rod is connected to the bottom of the rear side of the slot frame, and the third electric telescopic rod is electrically connected to the control console The fourth electric telescopic rod is installed at the top of the inner cavity of the trough frame in the up-down direction, and the fourth electric telescopic rod is electrically connected to the control console; the multi-axis robotic arm is inserted into the inner cavity of the trough frame, the telescopic end of the fourth electric telescopic rod is connected to the rear side of the top of the multi-axis robotic arm, and the multi-axis robotic arm is electrically connected to the control console; the clamping module is installed at the bottom of the moving end of the multi-axis robotic arm, and the clamping module is electrically connected to the control console; the warning roadblock storage component is arranged in the inner cavity of the bottom shell and is located in the middle below the guide rail.

[0020] Preferably, the warning roadblock storage component includes: an installation base plate, a lifting module, a pushing module, a bracket, a baffle, a base frame, a limiting telescopic rod, a fifth electric telescopic rod, a bracket and a warning roadblock; the installation base plate is fixedly installed at the bottom end of the inner wall of the bottom shell; the number of the lifting modules is two, and the two lifting modules are respectively installed on the left and right sides of the top of the installation base plate along the up and down directions, and the lifting module is electrically connected to the control console; the number of the pushing modules is two, and the two pushing modules are respectively installed on the top of the lifting ends of the left and right lifting modules along the left and right directions, and the pushing module is electrically connected to the control console; the number of the brackets is two, and the two brackets are respectively installed on the left and right pushing modules The inner side of the telescopic end of the block; the number of the baffles is two, and the two baffles are respectively installed on the front and rear sides of the middle of the top of the mounting base along the up and down directions; the base frame is installed at the middle of the top of the mounting base; the number of the limit telescopic rods is two, and the two limit telescopic rods are respectively embedded in the front and rear openings of the top of the base frame along the up and down directions; the fifth electric telescopic rod is arranged at the middle opening of the base frame, and the fifth electric telescopic rod is electrically connected to the control console; the support plate is installed on the top of the limit telescopic ends of the front and rear limit telescopic rods, and the telescopic end of the fifth electric telescopic rod is connected to the lower surface of the support plate; the number of the warning roadblocks is several, and the several warning roadblocks are stacked on the surface of the support plate from bottom to top.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The planning method of the present invention can realize more comprehensive and accurate traffic information collection and sharing through integration with the road condition auxiliary monitoring device, provide more powerful support for traffic management and decision-making, improve the efficiency and accuracy of path planning, optimize traffic flow, enhance user experience, enhance system scalability and flexibility, and promote the intelligent and information construction of the transportation system.

[0023] 2. Move to the designated position along the outside of the central guardrail of the road through the bottom shell, the third motor in the warning roadblock delivery mechanism on the left and right sides drives the horizontal axis seat at the corresponding position to drive the sprocket to rotate, and the chains on the left and right sides move circumferentially under the drive of the sprocket, so that the chain drives the roller frame to move to the designated position along the horizontal direction of the outside of the guide rail, and the roller frame moves to the position above the warning roadblock storage component. The rotating module drives the slot frame to rotate to the specified direction position so that the clamping module is aligned with the warning roadblock inside the warning roadblock storage component, and the fifth electric telescopic rod drives the support plate to lift the warning roadblock upward to the specified height position, and the pushing modules on the left and right sides drive the brackets at the corresponding positions to move inward to insert into the bottom of the top warning roadblock. The side lifting module extends to drive the pushing module at the corresponding position to drive the bracket to move upward, so as to lift the top warning roadblock upward along the inner side of the baffle to the inner side of the clamping module, and the clamping module clamps and grabs the warning roadblock, and the roller frame moves to the corresponding positions on the inner sides of the front and rear sides of the slot body in turn, and the multi-axis robotic arm moves itself and passes through the inner cavity of the slot body and drives the warning roadblock to move to the specified position outside the bottom shell with the cooperation of the clamping module, and the third electric telescopic rod drives the slot body frame to descend to the specified height inside the slot frame, and the fourth electric telescopic rod extends to drive the multi-axis robotic arm to descend to the specified height in the inner cavity of the slot body frame, so as to lower the warning roadblock with the cooperation of the clamping module and place it on the external road surface to warn passing vehicles.

[0024] 3. The first motor drives the first pulley seat to make the first belt move circumferentially and drive the first platform. The first platform moves upward and passes through the inside of the electric door. The second motor drives the top second pulley seat to rotate to make the second belt move circumferentially and drive the second platform to move upward. The first electric telescopic rod drives the second mounting frame to flip upward to a horizontal state on the inner side of the second platform. The second electric telescopic rod extends and drives the fixing frame to move outward along the inner side of the slot seat to release the clamping fixation of the landing gear of the monitoring drone. The navigation camera monitors the external air conditions and sends the information to the inside of the control console. The control console guides the monitoring drone to take off according to the air conditions and monitors the road conditions in the air, and sends the monitored information to the outside through the control console.

[0025] In summary, the present invention improves the calculation speed of local path planning and reduces user waiting time by adopting parallel computing and multi-threaded processing technology in local computing nodes, predicts future road conditions, pre-plans local path planning in advance, and can respond quickly when road conditions change. It also introduces auxiliary monitoring devices to monitor the real-time congestion level and causes of congestion in roads with blind spots, more intelligently avoids congested sections and judges congestion time, provides a more reliable basis for path planning, and thus improves the accuracy and adaptability of path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1It is a schematic diagram of the structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the road condition auxiliary monitoring device of the present invention;

[0028] Figure 3 for Figure 2 Schematic diagram of air traffic monitoring organization;

[0029] Figure 4 for Figure 3 Schematic diagram of flight monitoring components;

[0030] Figure 5 for Figure 4 A magnified image of point A;

[0031] Figure 6 for Figure 4 A magnified view of point B;

[0032] Figure 7 for Figure 2 Explosion diagram of the warning roadblock deployment mechanism;

[0033] Figure 8 for Figure 7 Enlarged view of point C;

[0034] Fig. 9 for Figure 7 The enlarged view of point D;

[0035] Fig.10 for Figure 7 Exploded view of the warning roadblock storage components.

[0036] In the figure: 1, bottom shell, 2, air traffic monitoring mechanism, 21, storage box, 22, battery module, 23, navigation camera, 3, flight monitoring component, 31, electric door, 32, vertical frame, 33, first pulley seat, 34, first motor, 35, first belt, 36, first guide rail assembly, 37, first stand, 38, first mounting frame, 39, second pulley seat, 310, second motor, 311, second belt, 312, second guide rail assembly, 313, second stand, 314, second mounting frame, 315, first electric telescopic rod, 316, take-off and landing platform, 317, slot seat, 318, second electric telescopic rod, 319, fixed frame, 320, monitoring drone, 321, three-axis mobile platform, 322, wireless charging Electric module, 4, control console, 5, trough body, 6, warning roadblock delivery mechanism, 61, horizontal axis seat, 62, guide rail, 63, sprocket, 64, third motor, 65, chain, 66, roller frame, 67, third mounting frame, 68, rotation module, 69, slot frame, 610, trough body frame, 611, third electric telescopic rod, 612, fourth electric telescopic rod, 613, multi-axis robotic arm, 614, clamping module, 7, warning roadblock storage component, 71, installation base plate, 72, lifting module, 73, pushing module, 74, bracket, 75, baffle, 76, base frame, 77, limit telescopic rod, 78, fifth electric telescopic rod, 79, pallet, 710, warning roadblock, 8, guardrail passage, 9, drive module, 10, road condition camera. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0038] See also Figure 1-Figure 10 The present invention provides a technical solution: a path planning method based on a distributed dynamic road network, comprising the following steps:

[0039] Step 1. Initialization, including:

[0040] Road network partitioning and node allocation: A hybrid partitioning method based on cluster analysis and traffic flow distribution is used to divide the entire road network into multiple non-overlapping sub-areas, and a local computing node is assigned to each sub-area;

[0041] Initialize local computing nodes, build local road network model, and initialize dynamic information table to record real-time status information;

[0042] Initialize the global coordinator, establish communication connections with each local computing node, create a global path planning task queue, initialize the global road network topology, and introduce a machine learning model to initialize road condition prediction;

[0043] Step 2. Local path planning: Receive the path planning request, map the coordinates of the starting point and the target point to the local road network model nodes, perform local path planning calculations based on the dynamic information table and travel preferences, and send the results to the global coordinator;

[0044] Step 3. Global path planning: The global coordinator receives and caches local path planning results, requests local path planning results from adjacent areas, splices and evaluates the paths, and continuously expands the paths to the target area until a global optimal path from the starting point to the target point is formed;

[0045] Step 4. Real-time update and adjustment: The local computing node monitors the road conditions in real time, uses the road condition auxiliary monitoring device to monitor the blind spot area in real time, updates the dynamic information table, triggers the recalculation of the local path planning, and the global coordinator dynamically adjusts the global path according to the real-time information and the latest local path planning results;

[0046] Step 5. Result return and end: The global coordinator returns the global optimal path information to the vehicle or user who initiated the path planning request, and cleans up temporary data and resources after the task is completed.

[0047] As a preferred solution, further, Figure 2As shown, a road condition auxiliary monitoring device is used in the real-time updating and adjusting steps, and the road condition auxiliary monitoring device includes: a bottom shell 1, an aerial road condition monitoring mechanism 2, a control console 4, a slot body 5, a warning roadblock delivery mechanism 6, a guardrail passage 8, a drive module 9 and a road condition camera 10; the aerial road condition monitoring mechanism 2 is arranged on the top of the bottom shell 1; the control console 4 is installed in the middle of the right side of the bottom shell 1, and a preset program is arranged inside the control console 4 to automatically control the electrical components inside the device; the number of slot bodies 5 is two groups, and the number of slot bodies 5 in each group is two, and the two groups of slot bodies 5 are respectively opened on the top of the left and right sides of the inner side of the bottom shell 1, and the number of warning roadblock delivery mechanisms 6 is two, and the two warning roadblock delivery mechanisms are respectively arranged on the top of the left and right sides of the inner side of the bottom shell 1 ... right and The release mechanism 6 is respectively on the inner side of the two groups of trough bodies 5; the guardrail passage groove 8 is opened at the middle bottom end of the bottom shell 1 along the front-to-back direction, and the guardrail passage groove 8 is located on the outside of the guardrail, so that the bottom shell 1 can be moved along the guardrail; the number of drive modules 9 is four, and the four drive modules 9 are respectively installed at the four corners of the outer side of the bottom shell 1, and the drive module 9 is electrically connected to the control console 4. The drive module 9 is controlled by the control console 4 to drive the bottom shell 1 to move; the road condition camera 10 is installed on the front top of the aerial road condition monitoring mechanism 2, and the road condition camera 10 is electrically connected to the control console 4. The road condition camera 10 monitors the front road condition information of the aerial road condition monitoring mechanism 2 and sends the monitored image data to the inside of the control console 4.

[0048] As a preferred solution, further, Figure 3 As shown, the air traffic monitoring mechanism 2 includes: a storage box 21, a battery module 22, a navigation camera 23 and a flight monitoring component 3; the storage box 21 is installed on the top of the bottom shell 1 along the front-to-back direction, and a warning light and other signs are installed on the top of the storage box 21 according to actual needs; the battery module 22 is arranged in the middle of the inner cavity of the storage box 21, and the battery module 22 extends out of the storage box 21, and the battery module 22 is electrically connected to the control console 4. The battery module 22 is controlled by the control console 4 to start and can supply power to the internal electrical components of the device, and the battery module 22 can be connected to an external power supply for charging; the number of navigation cameras 23 is four, and the four navigation cameras 23 are respectively installed on the front and rear sides of the middle of the top of the battery module 22, and the navigation camera 23 is electrically connected to the control console 4. The navigation camera 23 monitors the air information and sends the monitored image data to the inside of the control console 4; the number of flight monitoring components 3 is two, and the two flight monitoring components 3 are respectively installed on the front and rear sides of the inner cavity of the storage box 21.

[0049] As a preferred solution, further, Figure 4 , Figure 5 and Figure 6As shown, the flight monitoring component 3 includes: an electric door 31, a vertical frame 32, a first pulley seat 33, a first motor 34, a first belt 35, a first guide rail assembly 36, a first stand 37, a first mounting frame 38, a second pulley seat 39, a second motor 310, a second belt 311, a second guide rail assembly 312, a second stand 313, a second mounting frame 314, a first electric telescopic rod 315, a take-off and landing platform 316, a slot seat 317, a second electric telescopic rod 318, a fixing frame 319, a monitoring drone 320, a three-axis mobile platform 321 and a wireless charging module 322; the electric door 31 is installed at the top opening of the inner cavity of the storage box 21, and the electric door 31 is electrically connected to the control console 4. 31 is controlled by the control console 4 to realize opening and closing; there are two vertical frames 32, and the two vertical frames 32 are respectively installed at the left and right ends of the outer side of the bottom end of the electric door 31 along the up and down direction; there are two groups of first pulley seats 33, and the number of each group of first pulley seats 33 is two, and the two groups of first pulley seats 33 are respectively installed on the upper and lower sides of the outer sides of the left and right vertical frames 32, and a pulley is installed inside the first pulley seat 33; there are two first motors 34, and the two first motors 34 are respectively installed at the outer bottom of the left and right vertical frames 32, and the rotating ends of the left and right first motors 34 are respectively connected to the axle center of the bottom first pulley seat 33 in the left and right groups, and the first motor 34 is electrically connected to the control console 4, and the first A motor 34 is controlled by the control console 4 to drive the internal pulley of the first pulley seat 33 at the corresponding position to rotate clockwise or counterclockwise; there are two first belts 35, and the two first belts 35 are respectively sleeved on the outside of the left and right groups of first pulley seats 33 in the up-down direction; there are two first guide rail assemblies 36, and the two first guide rail assemblies 36 are respectively installed on the inner sides of the left and right vertical frames 32 in the up-down direction, and the guide rails in the first guide rail assemblies 36 are installed on the inner sides of the vertical frames 32 in the up-down direction and the outer sides of the guide rails are sleeved with limit sliders as limit ends; the first platform 37 is installed on the inner sides of the limit ends of the left and right first guide rail assemblies 36 in the left-right direction, and the left and right sides of the first platform 37 are respectively connected to the left and right first guide rail assemblies 36. The belt surface on one side of a belt 35 is connected; the first mounting frame 38 is mounted on the inner middle part of the first belt 35 in the up-down direction; there are two second pulley seats 39, and the two second pulley seats 39 are respectively mounted on the upper and lower ends of the inner side of the first mounting frame 38; the second motor 310 is mounted on the top of the first mounting frame 38, the rotating end of the second motor 310 is connected to the axis of the second pulley seat 39 on the top, the second motor 310 is electrically connected to the control console 4, and the second motor 310 is controlled by the control console 4 to drive the internal pulley of the second pulley seat 39 at the corresponding position to rotate clockwise or counterclockwise; the second belt 311 is sleeved on the outside of the upper and lower second pulley seats 39 in the up-down direction;There are two second guide rail assemblies 312, which are respectively mounted on the left and right ends of the inner side of the first mounting frame 38 in the up-down direction. The guide rails in the second guide rail assemblies 312 are respectively mounted on the inner side of the first mounting frame 38 in the up-down direction, and the outer sleeve of the guide rails is connected with a limit slider as a limit end; the second stand 313 is mounted on the inner side of the limit ends of the left and right groups of second guide rail assemblies 312 in the left-right direction, and the outer end of the second stand 313 is connected to the belt surface of one side of the second belt 311; the second mounting frame 314 is rotatably connected to the inner top end of the second stand 313 through a rotating shaft; there are two first electric telescopic rods 315, and one end of the two first electric telescopic rods 315 is respectively rotatably mounted through a rotating shaft seat The second mounting frame 314 is mounted on the left and right sides of the inner bottom end of the second mounting frame 313. The other ends of the two first electric telescopic rods 315 are respectively rotatably connected to the left and right sides of the bottom end of the second mounting frame 314 through the rotating shaft seat. The first electric telescopic rod 315 is electrically connected to the control console 4. The first electric telescopic rod 315 is controlled to extend and shorten by the control console 4. During the extension and shortening process of the first electric telescopic rod 315 itself, it can rotate upward or downward with the internal rotating shaft of the rotating shaft seat at the bottom end of the second mounting frame 314 as the axis. The lifting and lowering platform 316 is mounted on the top of the second mounting frame 314. There are four slot seats 317, which are mounted on the left and right ends of the outer side of the lifting and lowering platform 316, and the inner cavity of the slide groove of the slot seat 317 is inclined. 318 is opened; the number of second electric telescopic rods 318 is four, and the four second electric telescopic rods 318 are installed at the four corners of the bottom end of the take-off and landing platform 316. The second electric telescopic rods 318 are electrically connected to the control console 4, and the second electric telescopic rods are controlled to extend and shorten by the control console 4; the number of fixing frames 319 is four, and the four fixing frames 319 are respectively inserted into the inner sides of the four slot seats 317, and the telescopic ends of the four second electric telescopic rods 318 are respectively connected to the inner bottom ends of the four fixing frames 319, and the fixing frames 319 are L-shaped, and the fixing frames 319 can move inwardly and downwardly or outwardly and upwardly along the inner cavity of the slide groove of the slot seat 317 to realize the compression and fixation of the bottom landing gear of the monitoring drone 320; the monitoring drone The human-machine 320 is placed on the surface of the take-off and landing platform 316, the monitoring drone 320 and the control console 4 are remotely connected via the network, the monitoring drone 320 is controlled by the control console 4, the monitoring drone 320 can fly in the air over the road and monitor the current road conditions in real time, and send the monitored images to the inside of the control console 4; the three-axis mobile platform 321 is installed in the inner cavity of the storage box 21 and is located on the inner side of the first installation frame 38, the three-axis mobile platform 321 and the control console 4 are electrically connected, the three-axis mobile platform 321 is controlled by the control console 4 to drive the wireless charging module 322 to move in the three-axis direction, and realize wireless charging after the wireless charging module 322 is docked with the monitoring drone 320;The wireless charging module 322 is installed on the outer side of the mobile end of the three-axis mobile platform 321, the wireless charging module 322 is electrically connected to the battery module 22, the wireless charging module 322 is electrically connected to the control console 4, and the wireless charging module 322 is controlled and started by the control console 4. ;

[0050] As a preferred solution, further, Figure 7 , Figure 8 and Fig. 9As shown, the warning roadblock delivery mechanism 6 includes: a transverse axis seat 61, a guide rail 62, a sprocket 63, a third motor 64, a chain 65, a roller frame 66, a third mounting frame 67, a rotating module 68, a slot frame 69, a slot frame 610, a third electric telescopic rod 611, a fourth electric telescopic rod 612, a multi-axis mechanical arm 613, a clamping module 614 and a warning roadblock storage component 7; the number of the transverse axis seats 61 is two, and the two transverse axis seats 61 are respectively installed in the inner cavity of the bottom shell 1 and located above the inner side of the front and rear slots 5; the number of the guide rails 62 is two, and the two guide rails 62 are respectively installed on the left and right sides of the inner wall of the bottom shell 1 along the front and rear directions; the number of the sprockets 63 is two groups, There are two sprockets 63 in each group, and the two groups of sprockets 63 are respectively installed on the left and right sides of the outer wall of the axis of the front and rear transverse shaft seats 61; the third motor 64 is installed on the top of the rear side of the inner cavity of the bottom shell 1, and the rotating end of the third motor 64 is connected to the axis of the rear transverse shaft seat 61. The third motor 64 is electrically connected to the control console 4. The third motor 64 is controlled by the control console 4 to drive the internal transverse axis of the transverse shaft seat 61 at the corresponding position to drive the sprocket 63 to rotate clockwise or counterclockwise; there are two chains 65, and the two chains 65 are respectively meshed on the outer sides of the left and right groups of sprockets 63 in the front and rear directions; the roller frame 66 is installed on the inner side of the left and right guide rails 62 in the left and right directions. The left and right sides of the frame 66 are respectively connected to the tops of the left and right chains 65, and the roller frame 66 can move forward or backward along the guide rail 62; the third mounting frame 67 is installed at the bottom of the roller frame 66; the rotating module 68 is arranged at the bottom opening of the third mounting frame 67, and the rotating module 68 is electrically connected to the control console 4. The rotating module 68 is controlled by the control console 4 to rotate the slot frame 69 to a specified direction; the slot frame 69 is arranged at the bottom of the rotating end of the rotating module 68 in the up-down direction, and the slot frame 610 can move upward or downward inside the slot frame 69; the slot frame 610 is plugged into the inner side of the slot frame 69 in the up-down direction; the third electric telescopic rod 611 is connected to the inner side of the slot frame 69 along the up-down direction The third electric telescopic rod 611 is installed at the top of the rear side of the slot frame 69 in the downward direction, and the telescopic end of the third electric telescopic rod 611 is connected to the bottom of the rear side of the slot frame 610. The third electric telescopic rod 611 is electrically connected to the control console 4. The third electric telescopic rod 611 is controlled by the control console 4 and can drive the slot frame 610 to move upward or downward by its own extension and contraction; the fourth electric telescopic rod 612 is installed at the top of the inner cavity of the slot frame 610 in the upward and downward directions, and the fourth electric telescopic rod 612 is electrically connected to the control console 4. The fourth electric telescopic rod 612 is controlled by the control console 4 and can drive the multi-axis robot arm 613 to move upward or downward in the inner cavity of the slot frame 610 by its own extension and contraction;The multi-axis mechanical arm 613 is inserted into the inner cavity of the tank frame 610, the telescopic end of the fourth electric telescopic rod 612 is connected to the rear side of the top of the multi-axis mechanical arm 613, the multi-axis mechanical arm 613 is electrically connected to the control console 4, and the multi-axis mechanical arm 613 is controlled by the control console 4 to drive the clamping module 614 to move in multiple angles; the clamping module 614 is installed at the bottom of the moving end of the multi-axis mechanical arm 613, the clamping module 614 is electrically connected to the control console 4, and the clamping module 614 is controlled by the control console 4 to clamp and fix the outside of the warning roadblock 710; the warning roadblock storage component 7 is arranged in the inner cavity of the bottom shell 1 and is located in the middle of the lower part of the guide rail 62. ;

[0051] As a preferred solution, further, Fig.10 As shown, the warning roadblock storage component 7 includes: an installation base plate 71, a jacking module 72, a pushing module 73, a bracket 74, a baffle 75, a base frame 76, a limiting telescopic rod 77, a fifth electric telescopic rod 78, a bracket 79 and a warning roadblock 710; the installation base plate 71 is fixedly installed at the bottom end of the inner wall of the bottom shell 1; the number of the jacking modules 72 is two, and the two jacking modules 72 are respectively installed on the left and right sides of the top of the installation base plate 71 along the up and down directions, and the jacking modules 72 are electrically connected to the control console 4, and the jacking modules 72 are controlled by the control console 4 to drive the pushing module 73 to move up and down; the number of the pushing modules 73 is two, and the two pushing modules 73 are respectively installed on the top of the lifting ends of the left and right jacking modules 72 along the left and right directions, and the pushing modules 73 are electrically connected to the control console 4, and the pushing modules 73 are controlled by the control console 4 to drive the bracket 74 to move inward or outward; the number of the bracket 74 is two, and the two brackets 74 are respectively installed on the left The inner side of the telescopic end of the two right pushing modules 73; the number of baffles 75 is two, and the two baffles 75 are respectively installed on the front and rear sides of the middle of the top of the mounting base plate 71 along the up and down direction; the base frame 76 is installed at the middle of the top of the mounting base plate 71; the number of limiting telescopic rods 77 is two, and the two limiting telescopic rods 77 are respectively embedded in the openings on the front and rear sides of the top of the base frame 76 along the up and down direction, and the limiting telescopic rods 77 limit the support plate 79 by their own telescopic extension; the fifth electric telescopic rod 78 is arranged at the middle opening of the base frame 76, and the fifth electric telescopic rod 78 is electrically connected to the control console 4, and the fifth electric telescopic rod 78 is controlled by the control console 4 to drive the support plate 79 to move upward or downward; the support plate 79 is installed on the top of the limiting telescopic end of the front and rear limiting telescopic rods 77, and the telescopic end of the fifth electric telescopic rod 78 is connected to the lower surface of the support plate 79; the number of warning roadblocks 710 is several, and several warning roadblocks 710 are stacked on the surface of the support plate 79 from bottom to top.

[0052] Here’s how it works:

[0053] S1: The program inside the control console 4 controls the driving module 9, the road condition camera 10, the third motor 64, the fifth electric telescopic rod 78, the pushing module 73, the lifting module 72, the clamping module 614, the multi-axis mechanical arm 613, the third electric telescopic rod 611 and the fourth electric telescopic rod 612 to start, so that the bottom shell 1 moves to the central position of the road, and the guardrail passage 8 is located outside the central guardrail of the road. The road condition camera 10 monitors the external road condition information and drives the bottom shell 1 to move to the designated position along the outside of the central guardrail of the road with the cooperation of the driving module 9. The third motor 64 in the warning roadblock delivery mechanism 6 on the left and right sides drives the horizontal axis seat 61 at the corresponding position to drive the sprocket 63 to rotate, and the chains 65 on the left and right sides move circumferentially under the drive of the sprocket 63, so that the chains 65 drive the roller frame 66 to move to the specified position along the horizontal direction outside the guide rail 62, and the roller frame 66 moves to the position above the warning roadblock storage component 7, and the rotating module 68 drives the slot frame 69 to rotate to the specified direction position so that the clamping module 614 is aligned with the warning roadblock 710 inside the warning roadblock storage component 7, and the fifth electric telescopic rod 78 extends to drive the support plate 79 Under the limiting action of the limiting telescopic rod 77, the support plate 79 lifts the warning roadblock 710 upward to a specified height position, and the pushing modules 73 on the left and right sides extend themselves to drive the brackets 74 on the corresponding positions to move inward to insert into the bottom of the top warning roadblock 710. The lifting modules 72 on the left and right sides extend to drive the pushing modules 73 on the corresponding positions to drive the brackets 74 to move upward, so as to lift the top warning roadblock 710 upward along the inner side of the baffle 75 to the inner side of the clamping module 614, and the clamping module 614 clamps and grabs the warning roadblock 710, and the roller frame 66 moves to the front in turn. At the corresponding positions on the inner side of the slot bodies 5 on the rear sides, the multi-axis robot arm 613 moves and passes through the inner cavity of the slot body 5 and drives the warning roadblock 710 to move to the specified position outside the bottom shell 1 with the cooperation of the clamping module 614. The third electric telescopic rod 611 extends to drive the slot body frame 610 to descend to a specified height inside the slot frame 69. The fourth electric telescopic rod 612 extends to drive the multi-axis robot arm 613 to descend to a specified height in the inner cavity of the slot body frame 610, so as to lower the warning roadblock 710 with the cooperation of the clamping module 614 and place it on the external road surface to warn passing vehicles.

[0054] S2: The internal program of the control console 4 controls the electric door 31, the wireless charging module 322, the three-axis mobile platform 321, the first motor 34, the second motor 310, the first electric telescopic rod 315, the second electric telescopic rod 318, the navigation camera 23 and the monitoring drone 320 to start, the electric door 31 is opened to release the sealing of the inner cavity of the storage box 21, the three-axis mobile platform 321 is closed to stop the wireless charging of the monitoring drone 320, the three-axis mobile platform 321 drives the wireless charging module 322 to move to the outer side of the monitoring drone 320, the first motors 34 on the left and right sides drive the bottom first pulley seat 33 to rotate, so that the first belt 35 is driven by the bottom first pulley seat 33 and the tension of the top first pulley seat 33. The circumferential movement drives the first rack 37, and the first rack 37 moves upward to the specified position under the limiting action of the first guide rail assembly 36 and allows the first mounting frame 38 to pass through the electric door 31. The second motor 310 drives the top second pulley seat 39 to rotate, so that the second belt 311 moves circumferentially under the drive of the top second pulley seat 39 and the tension of the bottom second pulley seat 39 and drives the second gantry 313. The second gantry 313 moves upward under the limiting action of the second guide rail assembly 312 and passes through the inside of the electric door 31. The first electric telescopic rod 315 extends to drive the second mounting frame 314 to flip upward to a horizontal state on the inside of the second gantry 313. The second electric telescopic rod 318 extends to drive the fixing frame 319 to move outward along the inside of the slot seat 317 to release the pressing and fixing of the landing gear of the monitoring drone 320. The navigation camera 23 monitors the external air conditions and sends the information to the inside of the control console 4. The control console 4 guides the monitoring drone 320 to take off according to the air conditions and monitors the road conditions in the air, and sends the monitored information to the outside through the control console 4.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A path planning method based on a distributed dynamic road network, characterized in that: The following steps are involved: Step 1. Initialization, including: Road network partitioning and node allocation: A hybrid partitioning method based on cluster analysis and traffic flow distribution is used to divide the entire road network into multiple non-overlapping sub-areas, and a local computing node is assigned to each sub-area; Initialize local computing nodes, build local road network model, and initialize dynamic information table to record real-time status information; Initialize the global coordinator, establish communication connections with each local computing node, create a global path planning task queue, initialize the global road network topology, and introduce a machine learning model to initialize road condition prediction; Step 2. Local path planning: Receive the path planning request, map the coordinates of the starting point and the target point to the local road network model nodes, perform local path planning calculations based on the dynamic information table and travel preferences, and send the results to the global coordinator; Step 3. Global path planning: The global coordinator receives and caches local path planning results, requests local path planning results from adjacent areas, splices and evaluates the paths, and continuously expands the paths to the target area until a global optimal path from the starting point to the target point is formed; Step 4. Real-time update and adjustment: The local computing node monitors the road conditions in real time, uses the road condition auxiliary monitoring device to monitor the blind spot area in real time, updates the dynamic information table, triggers the recalculation of the local path planning, and the global coordinator dynamically adjusts the global path according to the real-time information and the latest local path planning results; Step 5. Result return and end: The global coordinator returns the global optimal path information to the vehicle or user who initiated the path planning request, and cleans up the temporary data and resources after the task is completed; The road condition auxiliary monitoring device includes: Bottom shell (1); An air traffic monitoring mechanism (2) is arranged on the top of the bottom housing (1); A control console (4) installed in the middle of the right side of the bottom housing (1); Grooves (5), the number of the grooves (5) being two groups, the number of the grooves (5) in each group being two, the two groups of grooves (5) being respectively arranged on the top of the left and right sides and the front and rear ends of the inner side of the bottom shell (1); A warning roadblock delivery mechanism (6), wherein the number of the warning roadblock delivery mechanisms (6) is two, and the two warning roadblock delivery mechanisms (6) are respectively located on the inner sides of the two groups of trough bodies (5); A guardrail passageway (8) is provided at the middle bottom end of the bottom shell (1) along the front-rear direction; A driving module (9), wherein the number of the driving modules (9) is four, and the four driving modules (9) are respectively mounted at four outer corners of the bottom housing (1), and the driving modules (9) are electrically connected to the control console (4); A road condition camera (10) is mounted on the front top of the aerial road condition monitoring mechanism (2), and the road condition camera (10) is electrically connected to a control console (4); The air traffic monitoring mechanism (2) comprises: A storage box (21) mounted on the top of the bottom housing (1) along the front-to-back direction; A battery module (22) is arranged in the middle of the inner cavity of the storage box (21), the battery module (22) extends outside the storage box (21), and the battery module (22) is electrically connected to the control console (4); Navigation cameras (23), the number of the navigation cameras (23) being four, the four navigation cameras (23) being respectively mounted on the front and rear sides of the middle of the top end of the battery module (22), and the navigation cameras (23) being electrically connected to the control console (4); A flight monitoring component (3), wherein the number of the flight monitoring components (3) is two, and the two flight monitoring components (3) are respectively mounted on the front and rear sides of the inner cavity of the storage box (21).

2. A path planning method based on a distributed dynamic road network according to claim 1, characterized in that: The flight monitoring component (3) comprises: An electric door (31) is installed at the top opening of the inner cavity of the storage box (21), and the electric door (31) is electrically connected to the control console (4); A vertical frame (32), wherein the number of the vertical frames (32) is two, and the two vertical frames (32) are respectively installed at the left and right ends of the outer side of the bottom end of the electric door (31) in the up-down direction; First pulley seats (33), the first pulley seats (33) being two groups in number, each group of the first pulley seats (33) being two in number, and the two groups of the first pulley seats (33) being respectively mounted on the upper and lower sides of the exterior of the left and right vertical frames (32); A first motor (34), wherein the number of the first motors (34) is two, and the two first motors (34) are respectively mounted on the outer bottoms of the left and right vertical frames (32), and the rotating ends of the two first motors (34) are respectively connected to the axis of the first pulley seats (33) at the bottoms of the left and right groups, and the first motors (34) are electrically connected to the control console (4); A first belt (35), wherein the number of the first belts (35) is two, and the two first belts (35) are respectively sleeved on the outside of the left and right sets of first belt pulley seats (33) in the up-down direction; A first guide rail assembly (36), the number of the first guide rail assemblies (36) being two, and the two first guide rail assemblies (36) being respectively installed on the rear sides of the left and right vertical frames (32) in the up-down direction; The first stand (37) is installed along the left-right direction on the inner side of the limiting ends of the left and right two first guide rail assemblies (36), and the left and right sides of the first stand (37) are respectively connected to the belt surfaces of one side of the left and right two first belts (35).

3. A path planning method based on a distributed dynamic road network according to claim 2, characterized in that: The flight monitoring component (3) also includes: A first mounting frame (38) mounted on the inner middle portion of the first belt (35) in the up-down direction; A second pulley seat (39), wherein the number of the second pulley seats (39) is two, and the two second pulley seats (39) are respectively mounted on the upper and lower ends of the inner side of the first mounting frame (38); A second motor (310) is mounted on the top of the first mounting frame (38), the rotating end of the second motor (310) is connected to the axis of the second pulley seat (39) on the top, and the second motor (310) is electrically connected to the control console (4); A second belt (311) is sleeved on the outside of two upper and lower second belt pulley seats (39) in the up-down direction; A second guide rail assembly (312), wherein the number of the second guide rail assemblies (312) is two, and the two second guide rail assemblies (312) are respectively installed at the left and right ends of the inner side of the first installation frame (38) in the up-down direction.

4. A path planning method based on a distributed dynamic road network according to claim 3, characterized in that: The flight monitoring component (3) also includes: A second stand (313) is installed on the inner side of the limiting ends of the left and right sets of second guide rail assemblies (312) in the left-right direction, and the outer end of the second stand (313) is connected to the belt surface of one side of the second belt (311); A second mounting frame (314) is rotatably connected to the inner top end of the second stand (313) via a rotating shaft; A first electric telescopic rod (315), the number of the first electric telescopic rod (315) is two, one end of the two first electric telescopic rods (315) is rotatably mounted on the left and right sides of the inner bottom end of the second stand (313) through a rotating shaft seat, the other end of the two first electric telescopic rods (315) is rotatably connected to the left and right sides of the bottom end of the second mounting frame (314) through the rotating shaft seat, and the first electric telescopic rod (315) is electrically connected to the control console (4); A take-off and landing platform (316) mounted on the top of the second mounting frame (314); A slot seat (317), wherein the number of the slot seats (317) is four, and the four slot seats (317) are installed on the left and right ends and the front and rear sides of the outer side of the lifting and lowering platform (316), and the inner cavity of the slide groove of the slot seat (317) is opened obliquely; A second electric telescopic rod (318), the number of the second electric telescopic rod (318) being four, the four second electric telescopic rods (318) being installed at four corners of the bottom end of the lifting platform (316), the second electric telescopic rod (318) being electrically connected to the control console (4); A fixing frame (319), wherein the number of the fixing frames (319) is four, the four fixing frames (319) are respectively plugged into the inner sides of the four slot seats (317), the telescopic ends of the four second electric telescopic rods (318) are respectively connected to the inner bottom ends of the four fixing frames (319), and the fixing frames (319) are L-shaped; A monitoring drone (320) is placed on the surface of the take-off and landing platform (316), and the monitoring drone (320) and the control console (4) are remotely connected via a network; A three-axis mobile platform (321) is installed in the inner cavity of the storage box (21) and is located in the inner side of the first installation frame (38), and the three-axis mobile platform (321) is electrically connected to the control console (4); A wireless charging module (322) is installed on the outside of the mobile end of the three-axis mobile platform (321); the wireless charging module (322) is electrically connected to the battery module (22); and the wireless charging module (322) is electrically connected to the control console (4).

5. A path planning method based on a distributed dynamic road network according to claim 4, characterized in that: The warning roadblock delivery mechanism (6) comprises: A transverse axis seat (61), wherein the number of the transverse axis seats (61) is two, and the two transverse axis seats (61) are respectively installed in the inner cavity of the bottom shell (1) and located above the inner sides of the front and rear grooves (5); Guide rails (62), the number of the guide rails (62) being two, and the two guide rails (62) being respectively installed on the left and right sides of the inner wall of the bottom shell (1) along the front-rear direction; Sprockets (63), the number of the sprockets (63) being two groups, the number of the sprockets (63) in each group being two, the two groups of sprockets (63) being respectively mounted on the left and right sides of the outer wall of the axis of the front and rear two transverse shaft seats (61); A third motor (64) is mounted on the top of the rear side of the inner cavity of the bottom shell (1), the rotating end of the third motor (64) is connected to the axis of the rear side transverse shaft seat (61), and the third motor (64) is electrically connected to the control console (4); Chains (65), the number of the chains (65) being two, the two chains (65) being respectively meshed with the outer sides of the left and right groups of sprocket wheels (63) along the front-rear direction; A roller frame (66) is installed on the inner side of the left and right guide rails (62) along the left-right direction, and the left and right sides of the roller frame (66) are respectively connected to the top of the left and right chains (65); A third mounting frame (67) mounted on the bottom of the roller frame (66); A rotating module (68) is arranged at the bottom opening of the third mounting frame (67), and the rotating module (68) is electrically connected to the control console (4); A slot frame (69) is arranged at the bottom of the rotating end of the rotating module (68) in the up-down direction; A slot body frame (610) is inserted into the inner side of the slot frame (69) along the up-down direction; A third electric telescopic rod (611) is installed at the top end of the rear side of the slot frame (69) in the up-down direction, the telescopic end of the third electric telescopic rod (611) is connected to the bottom end of the rear side of the slot frame (610), and the third electric telescopic rod (611) is electrically connected to the control console (4); A fourth electric telescopic rod (612) is mounted at the top of the inner cavity of the tank frame (610) in the up-down direction, and the fourth electric telescopic rod (612) is electrically connected to the control console (4); The multi-axis mechanical arm (613) is inserted into the inner cavity of the tank frame (610), the telescopic end of the fourth electric telescopic rod (612) is connected to the rear side of the top end of the multi-axis mechanical arm (613), and the multi-axis mechanical arm (613) is electrically connected to the control console (4); A clamping module (614) is installed at the bottom of the moving end of the multi-axis mechanical arm (613), and the clamping module (614) is electrically connected to the control console (4); The warning roadblock storage component (7) is arranged in the inner cavity of the bottom shell (1) and is located in the middle portion below the guide rail (62).

6. A path planning method based on a distributed dynamic road network according to claim 5, characterized in that: The warning roadblock storage component (7) comprises: A mounting base plate (71) fixedly mounted on the bottom end of the inner wall of the bottom housing (1); Lifting modules (72), the number of the lifting modules (72) being two, the two lifting modules (72) being respectively installed on the left and right sides of the top of the mounting base plate (71) in the up-down direction, and the lifting modules (72) being electrically connected to the control console (4); A pushing module (73), wherein the number of the pushing modules (73) is two, and the two pushing modules (73) are respectively installed on the top of the lifting ends of the left and right lifting modules (72) in the left and right directions, and the pushing modules (73) are electrically connected to the control console (4); A bracket (74), wherein the number of the brackets (74) is two, and the two brackets (74) are respectively mounted on the inner sides of the telescopic ends of the left and right pushing modules (73); baffles (75), the number of the baffles (75) being two, and the two baffles (75) being respectively mounted on the front and rear sides of the middle of the top end of the mounting base plate (71) in the up-down direction; A base frame (76) mounted on the middle of the top end of the mounting base plate (71); A limiting telescopic rod (77), wherein the number of the limiting telescopic rods (77) is two, and the two limiting telescopic rods (77) are respectively embedded in the openings at the front and rear sides of the top of the base frame (76) along the up-down direction; A fifth electric telescopic rod (78) is arranged at a middle opening of the base frame (76), and the fifth electric telescopic rod (78) is electrically connected to the control console (4); A support plate (79) is mounted on the top of the limit telescopic ends of the two front and rear limit telescopic rods (77), and the telescopic end of the fifth electric telescopic rod (78) is connected to the lower surface of the support plate (79); Warning roadblocks (710), the number of the warning roadblocks (710) is multiple, and the multiple warning roadblocks (710) are stacked from bottom to top on the surface of the support plate (79).

Images