Dynamic path planning method and system based on industrial target global positioning

Abstract

The invention provides a dynamic path planning method and system based on industrial target global positioning, and relates to the field of industrial target positioning and path planning. According to the method, based on a three-dimensional global topological graph of a complex industrial environment, an industrial target wireless positioning calculation model is established, a path selectable point set is determined by combining the global topological graph and a positioning output value, a starting point, an obstacle, an end point and the selectable point set are considered, local preferential search is adopted, and dynamic path planning based on industrial target positioning is achieved. Through global map construction, target coordinate acquisition, local preferential search and dynamic path planning, technical support can be provided for complex industrial environment target operation and even multi-machine writing.

Description

Technical Field

[0001] The present invention relates to the field of industrial target positioning and path planning, in particular to the field of path planning based on target positioning, and specifically to a dynamic path planning method and system based on global positioning of industrial targets. Background Art

[0002] Industrial target positioning technology is crucial for tasks such as autonomous navigation, path planning, and environmental perception. With breakthroughs in positioning algorithms, sensor technology, and environmental modeling, the rapid development of industrial target positioning technology has been promoted, and its application scope has also expanded from industrial automation, service robots, medical robots, and other fields to extreme environments such as deep space, deep sea, and disaster areas. With the help of various sensors installed on itself, it moves to the destination according to the planned motion trajectory according to functional requirements. In the air, most of the global satellite systems are used to locate the target in real time. In addition, other positioning technologies such as odometers, visual positioning, lidar, and ultrasonic positioning can also be used. With the development of microprocessors and wireless communication technologies, wireless sensor networks with information perception and wireless transmission functions are applied to the field of target positioning. As the application environment of industrial target positioning becomes increasingly harsh and multi-machine collaboration tasks become increasingly complex, the movement path of industrial targets is required to be planned in the entire space.

[0003] Industrial targets use certain path generation strategies to connect the sequence of starting points and end points. Commonly used target planning algorithms include: artificial potential field method, simulated annealing method, free space method, coded grid method, von Lonoy diagram method and ant colony algorithm. Target path planning has been widely used in multi-robot collaboration, drone inspection, logistics management and distribution, communication routing and other aspects. In multi-robot collaboration, path planning mainly studies the collaboration and cooperative movement of multi-robots when there is no collision from the starting point to the end point. In drone inspection, path planning mainly faces multiple feasible paths during the flight of drones, finds the best flight path and completes the corresponding inspection task. In logistics management and distribution, path planning mainly studies the path optimization sub-problem of a single vehicle and the path optimization problem of multiple vehicles, so as to provide decision-making for urban logistics distribution management. In communication routing, path planning mainly realizes the effective transmission of communication information through information communication between dispersed communication nodes.

[0004] The existing path planning problem based on target positioning has no practical value if it simply considers the path optimization problem of a single target, especially when there are obstacles in a three-dimensional environment and there are coordinated movements of multiple targets. Deterministic path planning can no longer meet actual needs. Therefore, for the path optimization problem of the target, especially the path optimization problem of industrial targets in a three-dimensional environment, it is necessary to design an effective path planning method to improve the path planning performance based on the global positioning of the industrial target, and to study the dynamic path planning method of the global positioning of the industrial target. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a dynamic path planning method based on global positioning of industrial targets, and to further propose a system that can implement the above method.

[0006] In a first aspect of the present invention, a dynamic path planning method based on global positioning of industrial targets is proposed, comprising the following steps:

[0007] Based on a target industrial environment, construct its three-dimensional global topology map and calculate the real-time location coordinates of the industrial target;

[0008] Combined with the real-time position coordinates of the industrial target in the current three-dimensional global topology map, determine the optional point set of the industrial target and use local optimization to perform path search;

[0009] The nodes containing the shortest path are searched and stored in a list to realize path planning between industrial targets.

[0010] In a further embodiment of the first aspect, based on an industrial environment, constructing a three-dimensional global topology map thereof specifically includes:

[0011] In the industrial environment R, N industrial targets are deployed in the area ∪A j ∈R, when there are k reachable paths between different industrial targets, it can be expressed as:

[0012]

[0013] Where TP j,j-1 Represents the reachable paths between different industrial goals; Indicates industrial target MT j location and direction information; Indicates industrial target MT j-1 location and direction information;

[0014] The three-dimensional global topology TPs between N industrial targets are as follows:

[0015] TPs=[TP 1,1 ,TP 1,2,...,TP 1,N TP 2,1 ,TP 2,2 ,...,TP 2,N TP N,1 ,TP N,2 ,...,TP N,N ]

[0016] Where TP j,j Indicates industrial target MT j The number of reachable paths at its own position is zero, j∈[1,N].

[0017] In a further embodiment of the first aspect, in the industrial environment R:

[0018] N industrial targets form a set [MT1,MT2,...,MT N ], where each industrial target MT j The three-dimensional coordinates of a wireless receiver installed on the fuselage are (mx j ,my j ,mz j ) T , where j∈N;

[0019] In the industrial environment R, M wireless signal transmitters are deployed as [AT1, AT2, ..., AT M ], each wireless signal transmitter AT i The three-dimensional coordinates of (ax i ,ay i ,az i ) T , where i∈M;

[0020] Deployed wireless signal transmitter AT i With the installation in industrial target MT j The signal arrival time between the wireless receivers on the fuselage is t i,j , multiplied by the wireless signal propagation speed v c The geometric distance is t i,j v c .

[0021] In a further embodiment of the first aspect, in the industrial environment R:

[0022] Wireless signal transmitter AT i and wireless signal transmitter AT i-1 With the installation in industrial target MT j The signal arrival time difference between the wireless receivers on the fuselage is The measurement error of the signal arrival time difference is

[0023] With the installation in industrial target MT j The M wireless signal transmitters of the fuselage wireless receiver communicate, and the corresponding M-1 groups of signal arrival time difference errors are obtained as follows: i∈M, j∈N;

[0024] in, Represents the i-th wireless signal transmitter AT i and the i-1th wireless signal transmitter AT i-1 With the jth industrial target MT j The wireless receiver on the fuselage communicates and obtains the measurement error of the time difference of arrival of the wireless signal; express Indicates the Mth wireless signal transmitter AT M and the M-1th wireless signal transmitter AT M-1 With the jth industrial target MT j The wireless receiver on the fuselage communicates and obtains the time difference of arrival of the wireless signal to measure the error.

[0025] In a further embodiment of the first aspect, the process of calculating the real-time position coordinates of the industrial target specifically includes:

[0026] For installation in industrial target MT j The wireless receiver, to be estimated coordinates The solution equation is (A T A) - 1 A T b, where:

[0027]

[0028]

[0029] In the formula, (AT i -AT i-1 ) T Represents the i-th wireless signal transmitter AT i With the i-1th wireless signal transmitter AT i-1 The difference in coordinates is expressed as (ax i -ax i-1 ,ay i -ay i-1 ,az i -az i-1 );d i,j Represents the i-th wireless signal transmitter AT i With the jth industrial target MT j The geometric distance between the wireless receivers on the fuselage is expressed as Represents the geometric distance d i,j The geometric distance d i-1,j The distance difference; Indicates distance difference The square of

[0030] Based on wireless ranging to wireless positioning, the real-time location coordinates of industrial targets are obtained.

[0031] In a further embodiment of the first aspect, combining the real-time position coordinates of the industrial target in the current three-dimensional global topology map, determining the industrial target optional point set and using local optimization to perform path search specifically includes:

[0032] For industrial targets MT j and adjacent industrial targets MT j-1 The path between the two, based on the coordinate values Establish the distance metric and direction metric of its reachable path;

[0033] There are p obstacles between the industrial targets moving to different positions in the industrial environment R. The reachable area considering the obstacles and the minimum turning radius of the industrial targets is calculated.

[0034] Between the obstacle Ω and the minimum radius R t Under the topological constraints, the number of optional paths of the industrial target of the base global topological graph is calculated;

[0035] Industrial Target MT j The location is taken as the starting point, and the adjacent industrial target MT j-1 The current location is taken as the end point, and the coordinates of other nodes are found based on the optional path. A local binary tree is established and the binary tree is read using the depth-first method. The distance between industrial targets is calculated and the node containing the shortest path is selected and stored in the list to realize the path planning between industrial targets.

[0036] In a further embodiment of the first aspect, based on the coordinate values Establish the distance metric GD of its reachable path j,j-1 :

[0037]

[0038] In the formula, ||·|| represents the bi-norm;

[0039] Based on coordinate values Establishing a directional metric GA for industrial target reachable paths j,j-1 :

[0040]

[0041] In the formula, |·| represents the absolute value of the height difference of the industrial target; mz j Indicates industrial target MTj The vertical coordinate of j-1 Indicates industrial target MT j-1 The vertical coordinate of .

[0042] In a further embodiment of the first aspect, there are p obstacles between the industrial target moving to different positions in the industrial environment R, and the point set Ω included is [Obs1, Obs2, ..., Obs p ], the reachable area of ​​the industrial target considering obstacles is R-Ω; the minimum turning radius of the industrial target is R t For k reachable paths, we need to remove q reachable paths whose minimum turning radius is less than R t The path of , the point set contained is The accessible area considering obstacles and minimum turning radius is

[0043] In a further embodiment of the first aspect, between the obstacle Ω and the minimum radius R t Under the topological constraint of The reachable paths are reduced to ks, and the ks reachable paths are differentiated to determine that the discontinuously differentiable paths are t non-smooth paths. Then the reachable and differentiable optional paths of the industrial target based on the global topology graph are kst;

[0044] Industrial Target MT j The location is the starting point and the adjacent industrial target MT j-1 The current location is taken as the end point, and the coordinates of other nodes are found based on the kst optional paths. A local binary tree is established and the binary tree is read using the depth-first method. The distance between industrial targets is calculated and the nodes containing the shortest path are selected and stored in the list to realize path planning between industrial targets.

[0045] The second aspect of the present invention provides a dynamic path planning system based on global positioning of industrial targets. The dynamic path planning system can automatically execute the dynamic path planning method based on global positioning of industrial targets disclosed in the first aspect.

[0046] Specifically, the dynamic path planning system consists of four components: target positioning module, global topology construction module, target solution module, and path planning module.

[0047] The target positioning module is used to measure the geometric distance between a wireless signal receiver installed on the body of an industrial target and a wireless signal transmitter calibrated by initial coordinates.

[0048] The global topology construction module is used to construct the target industrial environment into a three-dimensional global topology map and calculate the real-time location coordinates of the industrial target.

[0049] The target solution module performs wireless distributed solution on industrial targets based on the wireless ranging value combined with the initial coordinates of the wireless signal transmitter, and maps the output value based on the industrial target positioning into the global topology map.

[0050] The path planning module is used to establish distance and angle measurements based on reachable paths, combine spatial obstacles and minimum turning radius constraints, form a reachable and guidable optional point set containing the trajectory of the industrial target, establish physical connections between the starting point, obstacles, end point and optional paths, and use local optimal search to perform industrial target path planning.

[0051] Beneficial effects: The present invention takes map construction, target positioning, dot matrix selection and path optimization as the main line, obtains the target three-dimensional coordinate point set and global topological map set in the physical area where the industrial target cluster is located, establishes a local dual mapping between the target physical space domain and the geometric metric domain based on the target three-dimensional coordinate point set, uses the industrial target global topological map set to select drivable and reachable points as optional dot matrix for path planning, and uses local optimal search based on the starting point, obstacle, end point and optional dot matrix to dynamically coordinate path planning. The present invention realizes dynamic coordinated path planning under global positioning of industrial targets, solves industrial target path planning by combining global topological map and local optimal search, and can provide support for operation tasks based on industrial target path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Flowchart of a dynamic path planning method based on global positioning of industrial targets.

[0053] Figure 2 It is a three-dimensional global topology map based on a complex industrial environment.

[0054] Figure 3 Schematic diagram of a dynamic path planning system based on global positioning of industrial targets. DETAILED DESCRIPTION

[0055] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

[0056] This embodiment discloses a dynamic path planning method based on global positioning of industrial targets, and its specific flow chart is shown in Figure 1Based on the three-dimensional global topology map of the complex industrial environment, the wireless positioning solution model of the industrial target is established. The optional point set of the path is determined by combining the global topology map and the positioning output value. The starting point, obstacles, end point and optional point set are considered and the local optimal search is adopted to realize the dynamic path planning based on the industrial target positioning. The specific steps include:

[0057] Step 1: Based on the 3D global topology of the complex industrial environment (see Figure 2 ), establish the wireless positioning solution model for industrial targets. The specific operation steps include:

[0058] A global coordinate system for industrial target positioning and path planning is established based on the northeast sky direction. In the complex environment R, N industrial targets are deployed in the area ∪A j ∈R, when there are k reachable paths between different industrial goals, it can be expressed as Then the three-dimensional global topology graph between N industrial targets is TPs = [TP 1,1 ,TP 1,2 ,...,TP 1,N TP 2,1 ,TP 2,2 ,...,TP 2,N TP N,1 ,TP N,2 ,...,TP N,N ];

[0059] N industrial targets form a set [MT1,MT2,...,MT N ], where each industrial target MT j The three-dimensional coordinates of a wireless receiver installed on the fuselage are (mx j ,my j ,mz j ) T , where j∈N; M wireless signal transmitters are deployed in a complex industrial environment as [AT1,AT2,...,AT M ], each wireless signal transmitter AT i The three-dimensional coordinates of (ax i ,ay i ,az i ) T , where i∈M; deployed wireless signal transmitter AT i With the installation in industrial target MT j The signal arrival time between the wireless receivers on the fuselage is t i,j , multiplied by the wireless signal propagation speed v c The geometric distance is t i,j v c ;

[0060] Wireless signal transmitter ATi and wireless signal transmitter AT i-1 With the installation in industrial target MT j The signal arrival time difference between the wireless receivers on the fuselage is The measurement error of the signal arrival time difference is With the installation in industrial target MT j The M wireless signal transmitters of the fuselage wireless receiver communicate, and the corresponding M-1 groups of signal arrival time difference errors are obtained as follows: i∈M, j∈N, the error conforms to the Gaussian distribution N(0,σ t 2 );

[0061] For installation on industrial target MT j The wireless receiver, to be estimated coordinates The solution equation is (A T A) -1 A T b, where:

[0062]

[0063] b=[o 2,1 ;o 3,2 ;...;o i,i-1 ;...;o M,M-1 ]

[0064]

[0065] Based on wireless ranging to wireless positioning, the real-time location coordinates of industrial targets can be obtained.

[0066] Step 2: Combine the global topology map and the positioning output value to determine the optional point set of the industrial target and use local optimization to search for paths. The specific steps include:

[0067] Industrial Target MT j Move its adjacent industrial target MT j-1 For example, based on the estimated coordinate values The distance metric for establishing its reachable path is where ||·|| represents the bi-norm; and based on the estimated coordinate values The orientation metric for establishing the reachable path of the industrial target is where |·| represents the absolute value of the height difference of the industrial target;

[0068] There are p obstacles between the industrial target moving to different positions in the complex environment R, and the point set Ω=[Obs1,Obs2,...,Obs p], the reachable area of ​​the industrial target considering obstacles is R-Ω; the minimum turning radius of the industrial target is R t For k reachable paths, we need to remove q reachable paths whose minimum turning radius is less than R t The path of , the point set contained is The accessible area considering obstacles and minimum turning radius is

[0069] Between the obstacle Ω and the minimum radius R t Under the topological constraint of The reachable paths are reduced to ks, and the ks reachable paths are differentiated to determine that the discontinuously differentiable paths are t non-smooth paths. Then the reachable and differentiable optional paths of the industrial target based on the global topology graph are kst;

[0070] Industrial Target MT j The location is the starting point and the adjacent industrial target MT j-1 The current location is taken as the end point, and the coordinates of other nodes are found based on the kst optional paths. A local binary tree is established and the binary tree is read using the depth-first method. The distance between industrial targets is calculated and the nodes containing the shortest path are selected and stored in the list to realize path planning between industrial targets.

[0071] Figure 3 The embodiment of the present invention discloses a dynamic path planning system based on global positioning of industrial targets. The dynamic path planning system includes four components: a target positioning module, a global topology building module, a target solving module, and a path planning module.

[0072] The target positioning module is used to measure the geometric distance between the wireless signal receiver installed on the body of the industrial target and the wireless signal transmitter calibrated with the initial coordinates. The global topology construction module is used to construct the target industrial environment into a three-dimensional global topology map and calculate the real-time position coordinates of the industrial target. The target solution module performs wireless distributed solution on the industrial target based on the wireless ranging value combined with the initial coordinates of the wireless signal transmitter, and maps the output value based on the industrial target positioning to the global topology map. The path planning module is used to establish distance and angle metrics based on reachable paths, combine spatial obstacles and minimum turning radius constraints, form a reachable and drivable optional point set containing the trajectory of the industrial target, establish physical connections between the starting point, obstacles, end point and optional paths, and use local optimal search to plan the path of the industrial target.

[0073] The dynamic path planning method based on global positioning of industrial targets disclosed in the above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0074] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0075] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A dynamic path planning method based on global positioning of industrial targets, characterized in that: The steps include: Based on a target industrial environment, construct its three-dimensional global topology map and calculate the real-time location coordinates of the industrial target; Combined with the real-time position coordinates of the industrial target in the current three-dimensional global topology map, determine the optional point set of the industrial target and use local optimization to perform path search; The nodes containing the shortest path are searched and stored in a list to realize path planning between industrial targets.

2. The dynamic path planning method based on global positioning of industrial targets according to claim 1 is characterized in that: The three-dimensional global topology map of an industrial environment is constructed, specifically including: In the industrial environment R, N industrial targets are deployed in the area ∪A j ∈R, when there are k reachable paths between different industrial targets, it can be expressed as: Where TP j,j-1 Represents the achievable paths between different industrial goals; Indicates industrial target MT j location and direction information; Indicates industrial target MT j-1 location and direction information; The three-dimensional global topology TPs between N industrial targets are as follows: TPs=[TP 1,1 ,TP 1,2 ,...,TP 1,N ;TP 2,1 ,TP 2,2 ,...,TP 2,N ;TP N,1 ,TP N,2 ,...,TP N,N ] Where TP j,j Indicates industrial target MT j The number of reachable paths at its own position is zero, j∈[1,N].

3. The dynamic path planning method based on global positioning of industrial targets according to claim 2 is characterized in that: In an industrial environment: N industrial targets form a set [MT1,MT2,...,MT N ], where each industrial target MT j The three-dimensional coordinates of a wireless receiver installed on the fuselage are (mx j ,my j ,mz j ) T , where j∈N; In the industrial environment R, M wireless signal transmitters are deployed as [AT1, AT2, ..., AT M ], each wireless signal transmitter AT i The three-dimensional coordinates of (ax i ,ay i ,az i ) T , where i∈M; Deployed wireless signal transmitter AT i With the installation in industrial target MT j The signal arrival time between the wireless receivers on the fuselage is t i,j , multiplied by the wireless signal propagation speed v c The geometric distance is t i,j v c .

4. The dynamic path planning method based on global positioning of industrial targets according to claim 3 is characterized in that: In an industrial environment: Wireless signal transmitter AT i and wireless signal transmitter AT i-1 With the installation in industrial target MT j The arrival time difference of wireless signals between the wireless receivers on the fuselage is The measurement error of the wireless signal arrival time difference is With the installation in industrial target MT j The M wireless signal transmitters of the fuselage wireless receiver communicate, and the corresponding M-1 groups of signal arrival time difference errors are obtained as follows: i∈M, j∈N; in, Represents the i-th wireless signal transmitter AT i and the i-1th wireless signal transmitter AT i-1 With the jth industrial target MT j The wireless receiver on the fuselage communicates and obtains the measurement error of the time difference of arrival of the wireless signal; express Indicates the Mth wireless signal transmitter AT M and the M-1th wireless signal transmitter AT M-1 With the jth industrial target MT j The wireless receiver on the fuselage communicates and obtains the time difference of arrival of the wireless signal to measure the error.

5. The dynamic path planning method based on global positioning of industrial targets according to claim 4 is characterized in that: The calculating of the real-time position coordinates of the industrial target specifically includes: For installation in industrial target MT j The wireless receiver, to be estimated coordinates The solution equation is (A T A) -1 A T b, where: b=[o 2,1 ;the 3,2 ;...;the i,i-1 ;...;the M,M-1 ] In the formula, (AT i -AT i-1 ) T Represents the i-th wireless signal transmitter AT i With the i-1th wireless signal transmitter AT i-1 The difference in coordinates; d i,j Represents the i-th wireless signal transmitter AT i With the jth industrial target MT j The geometric distance between the wireless receivers on the fuselage; Represents the geometric distance d i,j The geometric distance d i-1,j The distance difference; Indicates distance difference The square of Based on wireless ranging to wireless positioning, the real-time location coordinates of industrial targets are obtained.

6. The dynamic path planning method based on global positioning of industrial targets according to claim 5 is characterized in that: Combined with the real-time position coordinates of the industrial target in the current three-dimensional global topology map, the optional point set of the industrial target is determined and the path search is performed using local optimization, including: For industrial targets MT j and adjacent industrial targets MT j-1 The path between the two, based on the coordinate values and Establish the distance metric and direction metric of its reachable path; There are p obstacles between the industrial targets moving to different positions in the industrial environment R. The reachable area considering the obstacles and the minimum turning radius of the industrial targets is calculated. Between the obstacle Ω and the minimum radius R t Under the topological constraints, the number of optional paths of the industrial target of the base global topological graph is calculated; Industrial Target MT j The location is taken as the starting point, and the adjacent industrial target MT j-1 The current location is taken as the end point, and the coordinates of other nodes are found based on the optional path. A local binary tree is established and the binary tree is read using the depth-first method. The distance between industrial targets is calculated and the node containing the shortest path is selected and stored in the list to realize the path planning between industrial targets.

7. The dynamic path planning method based on global positioning of industrial targets according to claim 6 is characterized in that: Based on coordinate values and Establish the distance metric GD of its reachable path j,j-1 : In the formula, ||·|| represents the bi-norm; Based on coordinate values and Establishing a directional metric GA for industrial target reachable paths j,j-1 : In the formula, |·| represents the absolute value of the height difference of the industrial target; mz j Indicates industrial target MT j The vertical coordinate of j-1 Indicates industrial target MT j-1 The vertical coordinate of .

8. The dynamic path planning method based on global positioning of industrial targets according to claim 6, characterized in that: There are p obstacles between the industrial targets moving to different positions in the industrial environment R, and the point set Ω included is [Obs1, Obs2, ..., Obs p ], the reachable area of ​​the industrial target considering obstacles is R-Ω; the minimum turning radius of the industrial target is R t For k reachable paths, we need to remove q reachable paths whose minimum turning radius is less than R t The path of , the point set contained is The accessible area considering obstacles and minimum turning radius is 9. The dynamic path planning method based on global positioning of industrial targets according to claim 8, characterized in that: Between the obstacle Ω and the minimum radius R t Under the topological constraint of The reachable paths are reduced to ks, and the ks reachable paths are differentiated to determine that the discontinuously differentiable paths are t non-smooth paths. Then the reachable and differentiable optional paths of the industrial target based on the global topology graph are kst; Industrial Target MT j The location is the starting point and the adjacent industrial target MT j-1 The current location is taken as the end point, and the coordinates of other nodes are found based on the kst optional paths. A local binary tree is established and the binary tree is read using the depth-first method. The distance between industrial targets is calculated and the nodes containing the shortest path are selected and stored in the list to realize path planning between industrial targets.

10. A dynamic path planning system based on global positioning of industrial targets, characterized in that: include: Target positioning module; The target positioning module is used to measure the geometric distance between a wireless signal receiver installed on the industrial target body and a wireless signal transmitter calibrated by the initial coordinates; A global topology building module; the global topology building module is used to build the target industrial environment into a three-dimensional global topology map and calculate the real-time position coordinates of the industrial target; Target solution module: The target solution module performs wireless distributed solution on the industrial target based on the wireless ranging value combined with the initial coordinates of the wireless signal transmitter, and maps the output value based on the industrial target positioning into the global topology map; Path planning module; the path planning module is used to establish distance and angle metrics based on reachable paths, combine spatial obstacles and minimum turning radius constraints, form a reachable and drivable optional point set containing the trajectory of the industrial target, establish physical connections between the starting point, obstacles, end point and optional paths, and use local optimal search to perform industrial target path planning; The dynamic path planning system can automatically execute the dynamic path planning method based on global positioning of industrial targets as described in any one of claims 1 to 9.

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