Shuttle vehicle trajectory planning and speed adjusting method and system

Abstract

The embodiment of the invention provides a track planning and speed adjusting method and system for a shuttle vehicle, and the method comprises the steps: obtaining the image information of a warehouse frame and the historical operation record of the shuttle vehicle, and building a risk level grid map which comprises a dynamic risk region; service information is received, an initial three-dimensional path set is planned based on the risk level grid map and the service information, and the initial three-dimensional path set is sorted based on scores of service priorities; determining a transportation constraint based on the business information, and calculating a speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; and monitoring whether the shuttle vehicle has a running obstacle in the dynamic risk area, and when the running obstacle exists, adjusting the three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and in particular to a shuttle vehicle trajectory planning and speed adjustment method and system. BACKGROUND

[0002] Shuttle vehicles are very common in warehouse logistics equipment. The trolleys running in a reciprocating or loop mode on fixed tracks transport goods to designated locations or transfer equipment. Shuttle vehicles can be programmed to perform tasks such as picking, transporting, and placing, and can communicate with upper computers or WMS systems, combining RFID, barcode, and other identification technologies to achieve automatic identification, storage, and retrieval functions.

[0003] However, there are certain limitations in the trajectory planning and speed adjustment of the shuttle vehicle. For example, in trajectory planning, the shuttle vehicle does not take into account business requirements, and when the environment changes, the path needs to be recalculated, which is inefficient. On this basis, after the route is re-planned, the corresponding speed adjustment cannot be adjusted according to the actual situation of the goods in the business requirements, and the speed also needs to be adjusted, which is also inefficient. SUMMARY

[0004] To solve the problems in the prior art, the present application provides a shuttle vehicle trajectory planning and speed adjustment method.

[0005] The present application provides a shuttle vehicle trajectory planning and speed adjustment method, which comprises: Obtaining warehouse rack image information and shuttle vehicle historical operation records, establishing a risk level grid map, and the risk level grid map containing a dynamic risk area; Receiving business information, planning an initial three-dimensional path set based on the risk level grid map and the business information, and the initial three-dimensional path set being sorted based on the score of business priority; Determining the transportation constraints based on the business information, and calculating the speed curve corresponding to the initial three-dimensional path set based on the transportation constraints; Monitoring whether there is an operation obstacle in the dynamic risk area, and adjusting the three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set when there is an operation obstacle.

[0006] In one embodiment, the method further comprises: Establishing a coordinate system based on the warehouse rack image information, dividing the grid, and determining the risk type of the grid, the risk type including a storage area, a green channel area, and a dynamic risk area; Calculating the risk level of the dynamic risk area based on the historical operation records of the shuttle vehicle, and establishing a risk level grid map.

[0007] In one of the embodiments, the service priority comprises: aging, risk and energy consumption; The initial three-dimensional path set is ranked based on the score of the service priority, comprising: Based on the service priority, the service weight is determined, the service priority score data of the initial three-dimensional path is calculated, the comprehensive score is calculated in combination with the service weight, and the initial three-dimensional path set is ranked based on the comprehensive score.

[0008] In one of the embodiments, the method further comprises: Based on the risk level of the initial three-dimensional path passing through the grid, the risk score data of the initial three-dimensional path is calculated.

[0009] In one of the embodiments, the method further comprises: five-order acceleration and deceleration curve; The calculation formula of the five-order acceleration and deceleration curve comprises: Wherein, a is acceleration, t is time, and j is jerk.

[0010] In one of the embodiments, the method further comprises: Adjusting the shuttle path to the sub-priority initial three-dimensional path in the initial three-dimensional path set.

[0011] Embodiments of the application provide a shuttle trajectory planning and speed adjustment system, the system comprises: The establishment module is used for acquiring warehouse rack image information and shuttle historical operation record, establishing a risk level grid map, and the risk level grid map contains a dynamic risk area; The sorting module is used for receiving service information, planning an initial three-dimensional path set based on the risk level grid map and the service information, and ranking the initial three-dimensional path set based on the score of the service priority; The calculation module is used for determining the transportation constraint based on the service information, and calculating the speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; The monitoring module is used for monitoring whether there is an operation obstacle in the dynamic risk area, and adjusting the three-dimensional path of the shuttle based on the initial three-dimensional path set when there is an operation obstacle.

[0012] In one of the embodiments, the system further comprises: The grid module is used for establishing a coordinate system based on the warehouse rack image information, dividing the grid, and determining the risk type of the grid, the risk type comprising a storage area, a green channel area and a dynamic risk area; The risk level module is used to calculate the risk level of the dynamic risk area based on the historical operation records of the shuttle vehicle and establish a risk level grid map.

[0013] An embodiment of the present invention provides an electronic device, including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to execute the method described in one or more embodiments.

[0014] An embodiment of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned shuttle trajectory planning and speed adjustment method are implemented.

[0015] In view of the above, in one or more embodiments of the present specification, warehouse rack image information and shuttle vehicle historical operation records are obtained to create a risk level grid map, which includes dynamic risk zones; business information is received, and an initial three-dimensional path set is planned based on the risk level grid map and business information, with the initial three-dimensional path set being ranked based on business priority scores; transportation constraints are determined based on the business information, and a speed curve corresponding to the initial three-dimensional path set is calculated based on the transportation constraints; and the shuttle vehicle is monitored for operational obstacles within the dynamic risk zone. When operational obstacles exist, the shuttle vehicle's three-dimensional path is adjusted based on the initial three-dimensional path set. This allows for targeted trajectory planning and speed adjustment based on the actual conditions of the goods in the business requirements, and allows for real-time call-up of other paths in the path set when the environment changes, thereby improving the efficiency of trajectory planning and speed adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a flow chart of a shuttle trajectory planning and speed adjustment method provided by one embodiment of this specification.

[0018] Figure 2 This is a structural diagram of a shuttle trajectory planning and speed adjustment system provided by an embodiment of this specification.

[0019] Figure 3This is a structural diagram of an electronic device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0020] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and are not intended to limit the scope of protection, applicability, or examples set forth in the claims. The functions and arrangements of the elements discussed may be changed without departing from the scope of protection of this specification. Various examples may omit, replace, or add various processes or components as needed. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted, or combined. In addition, features described relative to some examples may also be combined in other examples.

[0021] As used herein, the term "including" and its variations are open terms meaning "including but not limited to". The term "based on" means "based at least in part on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other definitions may be included below, whether explicit or implicit. Unless the context clearly indicates otherwise, the definition of a term is consistent throughout the specification.

[0022] like Figure 1 As shown, an embodiment of the present invention provides a shuttle trajectory planning and speed adjustment method, including: Step S102: Obtain warehouse rack image information and shuttle vehicle historical operation records, and establish a risk level grid map, wherein the risk level grid map includes dynamic risk areas.

[0023] Specifically, through multi-source data fusion, a high-precision risk-level grid map is constructed, providing dynamic, real-time environmental awareness support for subsequent path planning. This multi-source data can include real-time warehouse rack imagery and database-based shuttle vehicle operation records. Warehouse rack imagery can be acquired through 3D lidar scanning of shelf outlines and cargo occupancy status, cameras capturing shelf images and depth information, or base stations assisting in the determination of shelf coordinates. Warehouse rack imagery can include shelf layout, cargo occupancy status, and labeling information (such as cargo ID, fragile goods, and hazardous materials identification). Shuttle vehicle operation records can be obtained from onboard sensors and logs, including shuttle vehicle path trajectories, accident records, energy consumption data, and more, to generate corresponding risk heat maps.

[0024] Further, the grid division in the risk level grid map can be divided in XY axes according to the resolution in the warehouse rack image information, and the Z axis can be layered according to the number of rack layers (other division methods can also be used and are not limited to be unique). Among them, the grid division area type can include a storage area (no-go), a green channel area (a main road with extremely low collision and high-speed traffic), and a dynamic risk area (an area with collision risk and road blockage risk, such as a crossing, a loading and unloading port, etc.). Among them, the further division of the risk level of the dynamic risk area can combine the accident rate in the historical operation record of the shuttle vehicle to divide the risk level, wherein the division logic of the risk level can be, for example, combined with the historical accident rate, the obstacle appearance probability, the obstacle moving speed, etc. to comprehensively calculate and determine the risk level of the dynamic risk area.

[0025] Step S104, receiving service information, planning an initial three-dimensional path set based on the risk level grid map and the service information, and the initial three-dimensional path set is sorted based on the score of service priority.

[0026] Specifically, receiving service information, combining service requirements and layered grid map to generate safe and efficient three-dimensional paths. Among them, the service information is the information related to the shuttle vehicle path planning, such as order priority, attributes (weight, whether fragile, whether placed on high layer), shuttle vehicle state, whether passing through a dynamic risk area, etc. Under the premise of meeting all service information (such as high-layer rack requiring shuttle vehicle current remaining power to be above 20%, fragile goods requiring dynamic risk area passed by shuttle vehicle to be less than 100 meters, and high order priority requiring order completion time to be within X minutes), a three-dimensional path that can complete the service requirement is planned, which is an initial three-dimensional path set, wherein the initial three-dimensional path includes the route of taking goods from the rack and passing through the area.

[0027] Further, after planning all three-dimensional paths, the initial three-dimensional path is sorted based on the business priority ranking. Among them, the business priority is determined based on the business demand, and different business demands correspond to different business priorities. For example, the business priority can include fast (weight ranking (time efficiency > risk value > energy consumption)), safe (such as for fragile goods) (weight ranking (risk value > time efficiency > energy consumption)), short distance (weight ranking (energy consumption > time efficiency > risk value)) and the like. Taking fast as an example, when the business priority is fast, the initial three-dimensional path should be sorted mainly by the shuttle vehicle moving path as the main weight, and the risk value (the distance through the dynamic risk area) as the secondary weight, such as time efficiency weight = 0.6, risk value weight = 0.3, energy consumption weight = 0.1, path selection logic: shortest path > second shortest path (risk value < 0.5), calculate the result value of all initial three-dimensional paths, and sort the initial three-dimensional path set. Among them, the score = 0.6 x time efficiency score + 0.3 x risk value score + 0.1 x energy consumption score, and the sorting result can be determined according to the quantitative formula. Similarly, when safety is the priority, the risk value weight = 0.7, the time efficiency weight = 0.2, and the energy consumption weight = 0.1, and the forced constraint can be that the total length of the path through the dynamic risk area < 100 meters.

[0028] Further, when planning the path through the grid map, the dynamic risk value (such as 0 = safe, 1 = high risk, 0.5 = moderate risk) can be stored for each grid, and the total risk value of the path can be further determined according to the grid quantity data.

[0029] In addition, when planning the initial three-dimensional path, the corresponding attribute keywords should be considered, such as the attribute keywords of the goods including fragile, flat, overweight and the like, and the route should be planned to avoid the dynamic risk area, especially the dynamic risk area with high risk level.

[0030] Step S106, determining the transportation constraint based on the business information, and calculating the speed curve corresponding to the initial three-dimensional path set based on the transportation constraint.

[0031] Specifically, combining the business information and the vehicle dynamics model, a safe and efficient speed curve range is generated for the initial three-dimensional path set, ensuring that the transportation process meets the constraints of goods attributes, shuttle vehicle state and dynamic risk area. Among them, the business attributes are quantified based on the business information, such as priority orders from 0 to 1 priority orders, 1 for the most priority order, and when planning the speed curve for the most priority order, the transportation constraint should be that the completion time is within a certain time limit. In addition, the transportation constraint of the goods is determined by combining the historical transportation rules and the artificially input transportation rules, such as heavy goods (> 50 kg): maximum path slope < 10°, maximum vehicle speed 0.8 m / s; dynamic risk area speed limit (such as dynamic risk area 1.0 m / s).

[0032] Further, the speed curve can be set with staged acceleration and deceleration conditions to achieve fine control of the speed curve and meet the needs of loading / unloading, distance adaptation, etc. Taking a five-stage acceleration and deceleration curve as an example, the first step is an acceleration acceleration stage, the second step is a deceleration acceleration stage, the third step is a constant speed stage, the fourth step is an acceleration and deceleration stage, and the fifth step is a deceleration and deceleration stage. The acceleration curve can be: where J is the jerk, which represents the smoothness of the speed curve, and can be set according to whether the business information is fragile and the priority of the business.

[0033] In addition, when performing dynamic speed adjustment, when performing short-distance transportation, the constant speed stage is shortened, and the acceleration and deceleration is directly entered (to avoid overshoot), such as constant speed stage time = 0, directly acceleration acceleration → deceleration acceleration → acceleration and deceleration → deceleration and deceleration, when performing long-distance transportation, the constant speed stage is extended, and the energy consumption is reduced.

[0034] Step S108, monitoring whether there is an operation obstacle of the shuttle vehicle in the dynamic risk area, and adjusting the three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set when there is an operation obstacle.

[0035] Specifically, in the real-time transportation process of the shuttle vehicle completing the business, when it is detected that the shuttle vehicle is located in the dynamic risk area, it is detected whether there is an operation obstacle, so as to avoid detecting the shuttle vehicle throughout the path and saving computing resources. Among them, the real-time transportation process usually follows the path with the highest priority in the initial three-dimensional path set. When the operation obstacle is detected, including detecting other shuttle vehicles and obstacles in the dynamic risk area, there is a risk of collision and road blockage. The three-dimensional path of the shuttle vehicle can be adjusted according to the initial three-dimensional path set, that is, real-time calculation is not required, and route adjustment is only required. The three-dimensional path with a lower priority in the pre-stored initial three-dimensional path set is run. The real-time calculation required by the computing resource is saved.

[0036] The embodiment of the present application provides a shuttle vehicle trajectory planning and speed adjustment method, acquires warehouse rack image information and shuttle vehicle historical operation records, establishes a risk level grid map, and the risk level grid map comprises a dynamic risk area; receives service information, plans an initial three-dimensional path set based on the risk level grid map and the service information, and the initial three-dimensional path set is sorted based on a score of a service priority; determines a transportation constraint based on the service information, and calculates a speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; monitors whether there is an operation obstacle of the shuttle vehicle in the dynamic risk area, and adjusts a three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set when there is the operation obstacle. In this way, the trajectory planning and speed adjustment can be targeted according to the actual situation of goods in the service requirement, and other paths in the path set can be called in real time when the environment changes, so that the efficiency of the trajectory planning and speed adjustment is improved.

[0037] Please refer to Figure 2 , Figure 2 is a structural schematic diagram of a shuttle vehicle trajectory planning and speed adjustment system provided by the embodiment of the present application. As shown in Figure 2 , the system comprises: The establishing module S202 is configured to acquire warehouse rack image information and shuttle vehicle historical operation records, establish a risk level grid map, and the risk level grid map comprises a dynamic risk area; The sorting module S204 is configured to receive service information, plan an initial three-dimensional path set based on the risk level grid map and the service information, and sort the initial three-dimensional path set based on a score of a service priority; The calculating module S206 is configured to determine a transportation constraint based on the service information, and calculate a speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; The monitoring module S208 is configured to monitor whether there is an operation obstacle of the shuttle vehicle in the dynamic risk area, and adjust a three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set when there is the operation obstacle.

[0038] In another embodiment, a shuttle vehicle trajectory planning and speed adjustment system further comprises: The grid module is configured to establish a coordinate system based on the warehouse rack image information, divide a grid, and determine a risk type of the grid, and the risk type comprises a storage area, a green channel area and a dynamic risk area; The risk level module is configured to calculate a risk level of the dynamic risk area based on the shuttle vehicle historical operation records, and establish a risk level grid map.

[0039] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "unit" and "module" in the specification refer to software and / or hardware capable of independently completing or cooperating with other components to complete a specific function, wherein the hardware may, for example, be a field programmable gate array (FPGA), an integrated circuit (IC), and the like.

[0040] The various processing units and / or modules of the embodiments of the present application can be implemented by means of analog circuits that implement the functions described in the embodiments of the present application, or can be implemented by means of software that executes the functions described in the embodiments of the present application.

[0041] Referring to Figure 3 , a structural schematic diagram of an electronic device related to the embodiments of the present application is shown, which can be used to implement the method in the embodiments shown in Figure 1 . As shown in Figure 3 , the electronic device 300 can include at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0042] The communication bus 302 is used to realize the connection and communication between the components.

[0043] The user interface 303 can include a display screen (Display) and a camera (Camera), and the optional user interface 303 can further include a standard wired interface and a wireless interface.

[0044] The network interface 304 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0045] The processor 301 can include one or more processing cores. The processor 301 connects various parts within the entire electronic device 300 by various interfaces and lines, and performs various functions of the terminal 300 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Alternatively, the processor 301 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 301 can be integrated with one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes an operating system, a user interface, and an application program; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 301, but can be implemented by a separate chip.

[0046] The memory 305 can include a random access memory (RAM) and a read-only memory (ROM). Alternatively, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 305 can alternatively be at least one storage device located away from the aforementioned processor 301. As shown in the figure, the memory 305 as a computer storage medium can include an operating system, a network communication module, a user interface module, and program instructions. Figure 3

[0047] In Figure 3 ​The electronic device 300 shown, the user interface 303 is mainly used for providing an interface for the user to input, obtaining user input data; and the processor 301 can be used to call the interactive application program based on the image stored in the memory 305, and specifically perform the following operations: obtaining warehouse shelf image information and shuttle vehicle historical operation record, establishing a risk level grid map, and the risk level grid map contains a dynamic risk area; receiving business information, planning an initial three-dimensional path set based on the risk level grid map and the business information, and the initial three-dimensional path set is sorted based on the score of the business priority; determining the transportation constraint based on the business information, calculating the speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; monitoring whether there is an operation obstacle of the shuttle vehicle in the dynamic risk area, and adjusting the three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set when there is an operation obstacle.

[0048] The application further provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the above method. The computer readable storage medium can include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0049] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the application is not limited to the action sequence described, because according to the application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0050] In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0051] In the several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner for actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some services, interfaces, devices or units, and can be electrical or other forms.

[0052] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected to achieve the purposes of the embodiments of the present application according to actual needs.

[0053] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0054] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable memory. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned memory includes: a U disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0055] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be instructed by a program to complete the related hardware, and the program can be stored in a computer readable memory, and the memory can include: a flash disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0056] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than described in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or possible.

Claims

1. A shuttle trajectory planning and speed adjustment method, the method comprising: Obtain warehouse rack image information and shuttle vehicle historical operation records to establish a risk level grid map, wherein the risk level grid map includes dynamic risk areas; receiving business information, and planning an initial three-dimensional path set based on the risk level grid map and the business information, wherein the initial three-dimensional path set is ranked based on a score of business priorities; determining a transportation constraint based on the business information, and calculating a speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; Monitoring whether there is an operation obstacle for the shuttle vehicle in the dynamic risk zone, and when an operation obstacle exists, adjusting the three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set.

2. The method according to claim 1, characterized in that The acquisition of warehouse rack image information and shuttle vehicle historical operation records and the establishment of a risk level grid map include: Establishing a coordinate system based on the warehouse rack image information, dividing the grid, and determining the risk type of the grid, wherein the risk type includes storage area, green channel area, and dynamic risk area; The risk level of the dynamic risk zone is calculated based on the historical operation records of the shuttle, and a risk level grid map is established.

3. The method according to claim 1, characterized in that The business priorities include: Timeliness, risk, and energy consumption; The initial three-dimensional path set is ranked based on business priority scores and includes: Determine a service weight based on the service priority, calculate service priority score data of the initial three-dimensional path, calculate a comprehensive score based on the service weight, and sort the initial three-dimensional path set based on the comprehensive score.

4. The method according to claim 3, characterized in that The method further comprises: Risk score data of the initial three-dimensional path is calculated based on the risk level of the grid through which the initial three-dimensional path passes.

5. The method according to claim 1, wherein The speed curve includes: Fifth-order acceleration and deceleration curve; The calculation formula of the fifth-order acceleration and deceleration curve includes: Where a is acceleration, t is time, and j is jerk.

6. The method according to claim 1, characterized in that The step of adjusting the three-dimensional path of the shuttle based on the initial three-dimensional path set includes: The shuttle path is adjusted to a lower priority initial three-dimensional path in the initial three-dimensional path set.

7. A shuttle trajectory planning and speed adjustment system, characterized in that: The system comprises: Establish a module for obtaining warehouse rack image information and shuttle vehicle historical operation records, and establish a risk level grid map, wherein the risk level grid map includes dynamic risk areas; A sorting module is configured to receive business information and plan an initial three-dimensional path set based on the risk level grid map and the business information, wherein the initial three-dimensional path set is sorted based on a score of business priority; a calculation module, configured to determine a transportation constraint based on the business information, and calculate a speed curve corresponding to the initial three-dimensional path set based on the transportation constraint; The monitoring module is used to monitor whether there is an operation obstacle for the shuttle vehicle in the dynamic risk area, and when an operation obstacle exists, adjust the three-dimensional path of the shuttle vehicle based on the initial three-dimensional path set.

8. The system according to claim 7, characterized in that The system further comprises: A grid module is used to establish a coordinate system based on the warehouse rack image information, divide the grid, and determine the risk type of the grid, wherein the risk type includes storage area, green channel area, and dynamic risk area; The risk level module is used to calculate the risk level of the dynamic risk area based on the historical operation records of the shuttle vehicle and establish a risk level grid map.

9. An electronic device comprising a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 1 to 6 when executed by a processor.

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