A logistics positioning and navigation system and method based on visible light communication

Abstract

This invention discloses a logistics positioning and navigation system and method based on visible light communication, including a visible light transceiver module, a data processing module, a dynamic path planning module, a result output module, and an area control terminal. This invention relates to the field of positioning system technology. The logistics positioning and navigation system and method based on visible light communication, through the dynamic path planning module and the data processing module, calculates the location information of the logistics transport vehicle, warehouse parameter information, and a preset target location to obtain an initial path. Then, based on the spatial conditions of the logistics transport vehicle and logistics information, a final path is planned on the initial path. The signal conversion of the visible light transceiver module is used to determine the location, thereby effectively ensuring the accuracy of subsequent path planning and positioning navigation, and improving the processing efficiency of the logistics positioning and navigation system and the working efficiency of the logistics transport vehicle.

Description

Technical Field

[0001] This invention relates to the field of positioning system technology, specifically to a logistics positioning and navigation system and method based on visible light communication. Background Technology

[0002] In the logistics industry, accurate positioning and efficient navigation are crucial for improving logistics efficiency and reducing costs. Traditional positioning technologies such as GPS have weak signals and low positioning accuracy in indoor environments, which cannot meet the needs of indoor scenarios such as logistics warehouses.

[0003] The reference patent is titled: "A Logistics Positioning and Navigation System and Method Based on Visible Light Communication" (Patent Publication No.: CN119126083A, Patent Publication Date: 2024-12-13). The system includes: a visible light transceiver array for controlling LED lights to emit visible light carrying coded information of location and service information; a navigation service module for processing the visible light carrying the coded information; a signal processing module for detecting the visible light carrying the coded information, calculating the initial position of the target cargo, and correcting the initial position based on the processed visible light; and a path planning module for receiving information from the signal processing module, displaying the target cargo position information, and planning a navigation path.

[0004] Based on the description in the above documents, existing logistics positioning and navigation systems are not accurate in locating the specific positions of logistics vehicles, which leads to deviations in the subsequent route planning process. At the same time, logistics vehicles sometimes do not complete a single task, and the influence of multiple factors can affect the completion of the initial task and change the route. As a result, positioning and navigation can only determine the completion of the operation, but fails to combine the analysis of multiple factors. Therefore, this invention provides a logistics positioning and navigation system and method based on visible light communication. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a logistics positioning and navigation system and method based on visible light communication. This solves the problems of existing logistics positioning and navigation systems not accurately locating the specific position of logistics vehicles, which leads to deviations in the subsequent route planning process. Furthermore, logistics vehicles sometimes do not perform a single task, and the influence of multiple factors can affect the completion of the initial task and change the route. As a result, positioning and navigation can only determine the completion of the operation, but fails to incorporate the analysis of multiple factors.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a logistics positioning and navigation system based on visible light communication, comprising:

[0007] The visible light transceiver module is equipped with multiple LED lights on the shelves of the logistics warehouse and transport vehicles. It is used to emit and receive visible light signals containing its own position information, convert the light signals into electrical signals for transmission, and store them in the database.

[0008] The data processing module classifies and associates electrical signals, and determines the location information of logistics transportation vehicles based on signal strength.

[0009] The dynamic path planning module, in conjunction with the data processing module, calculates the location information of the logistics transport vehicles, warehouse parameter information, and preset target locations to obtain the initial path, and plans the final path based on the initial path, taking into account the spatial situation of the logistics transport vehicles and logistics information.

[0010] The results output module transmits the planned final route to the logistics transportation vehicles for positioning and navigation, and outputs it to the visualization interface for display.

[0011] The regional control terminal is used to realize information conversion, task allocation and remote control operation, and complete the automated processing of logistics positioning and navigation.

[0012] Preferably, the visible light transceiver module is configured to operate as follows:

[0013] Located on top of the logistics warehouse shelves and near the front of the shelves, LED lights are installed at equal intervals. Each LED light emits a visible light signal containing its own position information, and each LED light corresponds to a code.

[0014] An LED light is installed at the center of the top of the logistics vehicle. The LED light is used not only to emit visible light signals containing its own position information, but also to receive visible light signals emitted by other LED lights.

[0015] Preferably, the operation of classifying and associating electrical signals in the data processing module is as follows:

[0016] Set up classification nodes, with the LED light's serial number as the first node and the different timestamps collected from the LED light as the second node;

[0017] Establish an edge association relationship between the second node and the first node, and associate the first node with the relevant task parameters of the shelf, and associate the second node with the collected LED light signal strength, and extract the relevant parameter information based on the matching of the corresponding node content.

[0018] Preferably, the operation in the data processing module to determine the location information of the logistics transport vehicle based on the signal strength is as follows:

[0019] By extracting the signal strength emitted by the LED lights received on logistics vehicles, a sorting operation is performed according to the signal strength, with the stronger the signal, the higher it is ranked.

[0020] Extract the four LEDs with the highest signal strength and trace their location information. Then, based on historical data, derive a distance information table between the signal receiving location and the LED emitting the signal under different signal strengths. Match the extracted signal strengths of the four LEDs with the distance information table to obtain the actual distance to the current receiving location.

[0021] The location of LED lights on logistics vehicles is determined by multi-directional distance positioning.

[0022] Preferably, the operation of locating the position of the LED lights on the multi-sided distance positioning logistics transport vehicle is as follows:

[0023] After determining the positions of the four LED lights on the shelf, the aisle position of the logistics transport vehicle is determined based on the two closest LED light positions.

[0024] A positioning plane parallel to the ground is established at the location of the LED lights on the logistics transport vehicle. The positioning plane corresponds to the boundary of the logistics transport vehicle, and a positioning point is set at the positioning plane. The positioning point moves from the corner point of the nearest LED light on the positioning plane and sets an S-shaped movement path. After the distance from one LED light to the positioning point meets the requirements, the distances from other LED lights to the positioning point are compared until the distances from the corresponding positions of four LED lights to the positioning point are consistent with the actual distances. Then the current positioning point is the position of the LED light on the logistics transport vehicle.

[0025] Preferably, the operation of the dynamic path planning module in calculating the location information of the logistics transport vehicle, warehouse parameter information, and preset target location to obtain the initial path in conjunction with the data processing module is as follows:

[0026] The warehouse layout diagram for logistics transportation vehicles is derived from the warehouse parameter information;

[0027] After determining the position of the LED lights on the logistics transport vehicle, mark the position of the LED lights on the logistics transport vehicle on the layout diagram according to the position of the LED lights on the shelf, and extract the preset target position determined by the current logistics transport vehicle and mark it on the layout diagram.

[0028] The initial path is the shortest path calculated from the current LED position of the logistics vehicle to the preset target position based on the parameter values ​​of each path on the layout diagram. The preset target position is reached when the LED of the logistics vehicle receives the maximum signal strength from the LED at the preset target position.

[0029] Preferably, the operation of obtaining the layout diagram of the logistics transportation vehicle's movement is as follows:

[0030] Set up a plane coordinate system, and use the two adjacent internal boundaries of the logistics warehouse as the intersecting coordinate axes of the plane coordinate system. Transform each corner point of the logistics warehouse rack into coordinates and introduce them into the plane coordinate system to obtain the layout position of the rack.

[0031] Furthermore, the layout information of LED lights is associated with the layout location of the shelves. At the same time, by determining the path width size without obstacles, the path width threshold for transport vehicles is extracted. Each path width size is compared with the path width threshold, and the path with the path width size greater than the path width threshold is a useful path, while the path with the path width size less than the path width threshold is a useless path.

[0032] Preferably, the operation of planning the final path based on the initial path in the dynamic path planning module, combining the spatial situation of logistics vehicles and logistics information, is as follows:

[0033] After determining the initial route, the spatial situation of the logistics transportation vehicles is analyzed, and the remaining loading space is determined based on the current cargo loading situation of the task.

[0034] Then, the cargo information is extracted through logistics information to meet the task of replenishing the loading space, and the path distance is determined based on the replenishment task;

[0035] The system combines the current location of the self-logistics transport vehicle with the path of each supplementary task, and compares it with the distance after the initial task. The initial task is the task started by the current logistics transport vehicle. The system is sorted according to the total path distance, with the smaller the total path distance, the larger the ranking.

[0036] The timestamps of arrival at the destination of the initial task are determined according to the order. If the task requirements are met, supplementary tasks are added; otherwise, navigation is directly carried out according to the initial path.

[0037] Preferably, the calculation operation for the sum of path distances is as follows:

[0038] Select a supplementary task, determine its starting point, and calculate the final total distance considering the current supplementary task. The result is as follows:

[0039] Result 1: Determine the distance from the current location of the logistics vehicle to the starting point of the supplementary task, determine the path distance from the starting point of the supplementary task to the ending point of the supplementary task, and then determine the distance from the ending point of the supplementary task to the ending point of the initial task, and obtain the first total distance.

[0040] Result 2: Determine the distance from the current location of the logistics vehicle to the starting point of the supplementary task, determine the path distance from the starting point of the supplementary task to the end point of the initial task, and then determine the distance from the end point of the initial task to the end point of the supplementary task to obtain the second total distance.

[0041] By comparing the first total distance with the second total distance, the smaller value is the final total distance under the current supplementary task;

[0042] Then, the final total distances of other supplementary tasks will be compared with each other, thus sorting the total path distances.

[0043] This invention also discloses a logistics positioning and navigation method based on visible light communication, specifically including the following steps:

[0044] S1. Multiple LED lights are installed on the logistics warehouse shelves and transport vehicles to determine the specific location information;

[0045] S2. Combine the information to obtain the layout diagram of the logistics transportation vehicle's movement, then introduce logistics parameter information to determine whether to add supplementary tasks, and determine the final route planning based on the distance of the route, the loading status of the goods, and the time required to complete the initial task.

[0046] S3. Based on the final route plan, the data is transmitted to the logistics transportation vehicle to realize positioning and navigation operations.

[0047] This invention provides a logistics positioning and navigation system and method based on visible light communication. Compared with the prior art, it has the following advantages:

[0048] 1. This logistics positioning and navigation system and method based on visible light communication calculates the location information of logistics transport vehicles, warehouse parameter information, and preset target locations through a dynamic path planning module and a data processing module to obtain an initial path. Based on the spatial conditions of the logistics transport vehicles and logistics information, a final path is planned. The location is determined by signal conversion using a visible light transceiver module. This effectively ensures the accuracy of subsequent path planning and positioning navigation, and improves the processing efficiency of the logistics positioning and navigation system and the working efficiency of logistics transport vehicles.

[0049] 2. This logistics positioning and navigation system and method based on visible light communication extracts the four LEDs with the highest signal strength and traces their location information. Then, based on historical data, it derives a distance information table between the signal receiving location and the LED emitting the signal under different signal strengths. The extracted signal strength of the four highest LEDs is matched with the distance information table to obtain the actual distance to the current receiving location. This accurately determines the location information of the logistics vehicle, facilitating subsequent positioning and navigation while avoiding collisions caused by inaccurate vehicle positioning, thus improving the stability of navigation positioning.

[0050] 3. This logistics positioning and navigation system and method based on visible light communication analyzes the spatial situation of logistics vehicles after determining the initial path. Based on the current cargo loading status, it determines the remaining loading space and extracts cargo information to supplement the loading space. Based on the supplementary task, it determines the path distance. Combining the path distance, cargo loading status, and time taken to complete the initial task, it determines the final path, effectively reducing task time, ensuring effective task completion, improving work efficiency, and improving navigation planning. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the logistics positioning and navigation system of the present invention.

[0052] Figure 2 This is a flowchart illustrating the operation of the logistics positioning and navigation method of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Please see Figures 1-2 This invention provides two technical solutions:

[0055] Example 1: A logistics positioning and navigation system based on visible light communication, comprising:

[0056] The visible light transceiver module is equipped with multiple LED lights on the shelves of the logistics warehouse and transport vehicles. It is used to emit and receive visible light signals containing its own position information, convert the light signals into electrical signals for transmission, and store them in the database.

[0057] The data processing module classifies and associates electrical signals, and determines the location information of logistics transportation vehicles based on signal strength.

[0058] The dynamic path planning module, in conjunction with the data processing module, calculates the location information of the logistics transport vehicles, warehouse parameter information, and preset target locations to obtain the initial path, and plans the final path based on the initial path, taking into account the spatial situation of the logistics transport vehicles and logistics information.

[0059] The results output module transmits the planned final route to the logistics transportation vehicles for positioning and navigation, and outputs it to the visualization interface for display.

[0060] The regional control terminal is used to realize information conversion, task allocation and remote control operation, and complete the automated processing of logistics positioning and navigation.

[0061] The dynamic path planning module, combined with the data processing module, calculates the location information of the logistics transportation vehicle, warehouse parameter information, and preset target location to obtain the initial path. Based on the spatial conditions of the logistics transportation vehicle and logistics information, the final path is planned. The location is determined by the signal conversion of the visible light transceiver module. This effectively ensures the accuracy of subsequent path planning and positioning navigation, and improves the processing efficiency of the logistics positioning and navigation system and the working efficiency of the logistics transportation vehicle.

[0062] In this embodiment of the invention, the operation of the visible light transceiver module is as follows:

[0063] Located on top of the logistics warehouse shelves and near the front of the shelves, LED lights are installed at equal intervals. Each LED light emits a visible light signal containing its own position information, and each LED light corresponds to a code.

[0064] An LED light is installed at the center of the top of the logistics vehicle. The LED light is used not only to emit visible light signals containing its own position information, but also to receive visible light signals emitted by other LED lights.

[0065] Visible light communication is a wireless communication technology that uses the flickering signals emitted by objects such as fluorescent lamps or light-emitting diodes (LEDs) to transmit information. Light-based internet access technology uses various visible light sources as signal transmitters, controlling the on / off state of the lights through a controller to manage communication between the light source and the terminal receiver. It features high bandwidth (10,000 times that of Wi-Fi), high security (indoor computer and mobile terminal information will not be leaked outdoors), and energy efficiency.

[0066] In this embodiment of the invention, the operation of classifying and associating electrical signals in the data processing module is as follows:

[0067] Set up classification nodes, with the LED light's serial number as the first node and the different timestamps collected from the LED light as the second node;

[0068] Establish an edge relationship between the second node and the first node. When the content of the first node is matched, all the content of the second node under the current first node is also displayed. The first node is associated with the relevant task parameters of the shelf, and the second node is associated with the collected LED light signal strength. The relevant parameter information is extracted based on the matching of the corresponding node content.

[0069] In this embodiment of the invention, the operation of determining the location information of logistics transportation vehicles based on signal strength in the data processing module is as follows:

[0070] By extracting the signal strength emitted by the LED lights received on logistics vehicles, a sorting operation is performed according to the signal strength, with the stronger the signal, the higher it is ranked.

[0071] Extract the four LEDs with the highest signal strength and trace their location information. Then, based on historical data, derive a distance information table between the signal receiving location and the LED emitting the signal under different signal strengths. Match the extracted signal strengths of the four LEDs with the distance information table to obtain the actual distance to the current receiving location.

[0072] The location of LED lights on logistics vehicles is determined by multi-directional distance positioning.

[0073] By extracting the four LEDs with the highest signal strength and tracing their location information, and then using historical data to derive a distance information table between the signal receiving location and the LED emitting the signal under different signal strengths, the extracted signal strength of the four LEDs is matched with the distance information table to obtain the actual distance to the current receiving location. This allows for accurate determination of the logistics vehicle's location information, facilitating subsequent positioning and navigation while avoiding collisions caused by inaccurate vehicle positioning, thus improving the stability of navigation positioning.

[0074] In this embodiment of the invention, the operation of locating the position of LED lights on a multi-directional distance-based logistics transport vehicle is as follows:

[0075] After determining the positions of the four LED lights on the shelf, the aisle position of the logistics transport vehicle is determined based on the two closest LED light positions.

[0076] A positioning plane parallel to the ground is established at the location of the LED lights on the logistics transport vehicle. The positioning plane corresponds to the boundary of the logistics transport vehicle, and a positioning point is set at the positioning plane. The positioning point moves from the corner point of the nearest LED light on the positioning plane and sets an S-shaped movement path. After the distance from one LED light to the positioning point meets the requirements, the distances from other LED lights to the positioning point are compared until the distances from the corresponding positions of four LED lights to the positioning point are consistent with the actual distances. Then the current positioning point is the position of the LED light on the logistics transport vehicle.

[0077] In this embodiment of the invention, the operation of the dynamic path planning module in calculating the location information of the logistics transport vehicle, warehouse parameter information, and preset target location to obtain the initial path in conjunction with the data processing module is as follows:

[0078] The warehouse layout diagram for logistics transportation vehicles is derived from the warehouse parameter information;

[0079] After determining the position of the LED lights on the logistics transport vehicle, mark the position of the LED lights on the logistics transport vehicle on the layout diagram according to the position of the LED lights on the shelf, and extract the preset target position determined by the current logistics transport vehicle and mark it on the layout diagram.

[0080] The initial path is the shortest path calculated from the current LED position of the logistics vehicle to the preset target position based on the parameter values ​​of each path on the layout diagram. The preset target position is reached when the LED of the logistics vehicle receives the maximum signal strength from the LED at the preset target position.

[0081] In this embodiment of the invention, the operation of deriving the layout diagram of the logistics transportation vehicle's movement is as follows:

[0082] Set up a plane coordinate system, and use the two adjacent internal boundaries of the logistics warehouse as the intersecting coordinate axes of the plane coordinate system. Transform each corner point of the logistics warehouse rack into coordinates and introduce them into the plane coordinate system to obtain the layout position of the rack.

[0083] Furthermore, the layout information of LED lights is associated with the layout location of the shelves. At the same time, by determining the path width size without obstacles, the path width threshold for transport vehicles is extracted. Each path width size is compared with the path width threshold, and the path with the path width size greater than the path width threshold is a useful path, while the path with the path width size less than the path width threshold is a useless path.

[0084] In this embodiment of the invention, the operation of planning the final path based on the initial path in the dynamic path planning module, combining the spatial situation of logistics transport vehicles and logistics information, is as follows:

[0085] After determining the initial route, the spatial situation of the logistics transportation vehicles is analyzed, and the remaining loading space is determined based on the current cargo loading situation of the task.

[0086] Then, the cargo information is extracted through logistics information to meet the task of replenishing the loading space, and the path distance is determined based on the replenishment task;

[0087] The system combines the current location of the self-logistics transport vehicle with the path of each supplementary task, and compares it with the distance after the initial task. The initial task is the task started by the current logistics transport vehicle. The system is sorted according to the total path distance, with the smaller the total path distance, the larger the ranking.

[0088] The timestamps of arrival at the destination of the initial task are determined according to the order. If the task requirements are met, supplementary tasks are added; otherwise, navigation is directly carried out according to the initial path.

[0089] After determining the initial route, the spatial situation of the logistics vehicles is analyzed. Based on the current cargo loading status, the remaining loading space is determined. Then, the cargo status is extracted through logistics information to supplement the loading space. The path distance is determined based on the supplementary task. Combining the path distance, cargo loading status, and time taken to complete the initial task, the final route is determined. This effectively reduces task time, ensures the effective completion of the task, improves work efficiency, and facilitates navigation planning.

[0090] In this embodiment of the invention, the calculation operation for the total path distance is as follows:

[0091] Select a supplementary task, determine its starting point, and calculate the final total distance considering the current supplementary task. The result is as follows:

[0092] Result 1: Determine the distance from the current location of the logistics vehicle to the starting point of the supplementary task, determine the path distance from the starting point of the supplementary task to the ending point of the supplementary task, and then determine the distance from the ending point of the supplementary task to the ending point of the initial task, and obtain the first total distance.

[0093] Result 2: Determine the distance from the current location of the logistics vehicle to the starting point of the supplementary task, determine the path distance from the starting point of the supplementary task to the end point of the initial task, and then determine the distance from the end point of the initial task to the end point of the supplementary task to obtain the second total distance.

[0094] By comparing the first total distance with the second total distance, the smaller value is the final total distance under the current supplementary task;

[0095] Then, the final total distances of other supplementary tasks will be compared with each other, thus sorting the total path distances.

[0096] Example 2 differs from Example 1 in that: the present invention also discloses a logistics positioning and navigation method based on visible light communication, specifically including the following steps:

[0097] S1. Multiple LED lights are installed on the logistics warehouse shelves and transport vehicles to determine the specific location information;

[0098] S2. Combine the information to obtain the layout diagram of the logistics transportation vehicle's movement, then introduce logistics parameter information to determine whether to add supplementary tasks, and determine the final route planning based on the distance of the route, the loading status of the goods, and the time required to complete the initial task.

[0099] S3. Based on the final route plan, the data is transmitted to the logistics transportation vehicle to realize positioning and navigation operations.

[0100] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0101] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0102] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A logistics positioning and navigation system based on visible light communication, characterized in that: include: The visible light transceiver module is equipped with multiple LED lights on the shelves of the logistics warehouse and transport vehicles. It is used to emit and receive visible light signals containing its own position information, convert the light signals into electrical signals for transmission, and store them in the database. The data processing module classifies and associates electrical signals, and determines the location information of logistics transportation vehicles based on signal strength. The dynamic path planning module, in conjunction with the data processing module, calculates the location information of the logistics transport vehicles, warehouse parameter information, and preset target locations to obtain the initial path, and plans the final path based on the initial path, taking into account the spatial situation of the logistics transport vehicles and logistics information. The results output module transmits the planned final route to the logistics transportation vehicles for positioning and navigation, and outputs it to the visualization interface for display. Regional control terminals are used to realize information conversion, task allocation, and remote control operations, and to complete automated processing of logistics positioning and navigation. The operation settings for the visible light transceiver module are as follows: Located on top of the logistics warehouse shelves and near the front of the shelves, LED lights are installed at equal intervals. Each LED light emits a visible light signal containing its own position information, and each LED light corresponds to a code. An LED light is installed at the center of the top of the logistics vehicle. The LED light is used not only to emit visible light signals containing its own position information, but also to receive visible light signals emitted by other LED lights. The operation in the data processing module to determine the location information of logistics transport vehicles based on signal strength is as follows: By extracting the signal strength emitted by the LED lights received on logistics vehicles, a sorting operation is performed according to the signal strength, with the stronger the signal, the higher it is ranked. Extract the four LEDs with the highest signal strength and trace their location information. Then, based on historical data, derive a distance information table between the signal receiving location and the LED emitting the signal under different signal strengths. Match the extracted signal strengths of the four LEDs with the distance information table to obtain the actual distance to the current receiving location. The location of LED lights on logistics vehicles can be determined by multi-directional distance positioning. The operation of locating the LED lights on the logistics transport vehicle using the multi-directional distance positioning is as follows: After determining the positions of the four LED lights on the shelf, the aisle position of the logistics transport vehicle is determined based on the two closest LED light positions. A positioning plane parallel to the ground is established at the location of the LED lights on the logistics transport vehicle. The positioning plane corresponds to the boundary of the logistics transport vehicle, and a positioning point is set at the positioning plane. The positioning point moves from the corner point of the nearest LED light on the positioning plane and sets an S-shaped movement path. After the distance from one LED light to the positioning point meets the requirements, the distances from other LED lights to the positioning point are compared until the distances from the corresponding positions of four LED lights to the positioning point are consistent with the actual distances. Then the current positioning point is the position of the LED light on the logistics transport vehicle. The dynamic path planning module performs the following operation: combining the spatial conditions of logistics vehicles and logistics information to plan the final path based on the initial path. After determining the initial route, the spatial situation of the logistics transportation vehicles is analyzed, and the remaining loading space is determined based on the current cargo loading situation of the task. Then, the cargo information is extracted through logistics information to meet the task of replenishing the loading space, and the path distance is determined based on the replenishment task; The system combines the current location of the self-logistics transport vehicle with the path of each supplementary task, and compares it with the distance after the initial task. The initial task is the task started by the current logistics transport vehicle. The system is sorted according to the total path distance, with the smaller the total path distance, the larger the ranking. The timestamps of the arrival points of the initial tasks are determined according to the order. If the task requirements are met, supplementary tasks are added; otherwise, navigation is directly performed according to the initial path. The calculation operation for the sum of path distances is as follows: Select a supplementary task, determine its starting point, and calculate the final total distance considering the current supplementary task. The result is as follows: Result 1: Determine the distance from the current location of the logistics vehicle to the starting point of the supplementary task, determine the path distance from the starting point of the supplementary task to the ending point of the supplementary task, and then determine the distance from the ending point of the supplementary task to the ending point of the initial task, and obtain the first total distance. Result 2: Determine the distance from the current location of the logistics vehicle to the starting point of the supplementary task, determine the path distance from the starting point of the supplementary task to the end point of the initial task, and then determine the distance from the end point of the initial task to the end point of the supplementary task to obtain the second total distance. By comparing the first total distance with the second total distance, the smaller value is the final total distance under the current supplementary task; Then, the final total distances of other supplementary tasks will be compared with each other, thus sorting the total path distances.

2. The logistics positioning and navigation system based on visible light communication according to claim 1, characterized in that: The data processing module performs the following operations to classify and associate electrical signals: Set up classification nodes, with the LED light's serial number as the first node and the different timestamps collected from the LED light as the second node; Establish an edge association relationship between the second node and the first node, and associate the first node with the relevant task parameters of the shelf, and associate the second node with the collected LED light signal strength, and extract the relevant parameter information based on the matching of the corresponding node content.

3. The logistics positioning and navigation system based on visible light communication according to claim 1, characterized in that: The dynamic path planning module, in conjunction with the data processing module, calculates the location information of the logistics transport vehicle, warehouse parameter information, and the preset target location to derive the initial path as follows: The warehouse layout diagram for logistics transportation vehicles is derived from the warehouse parameter information; After determining the position of the LED lights on the logistics transport vehicle, mark the position of the LED lights on the logistics transport vehicle on the layout diagram according to the position of the LED lights on the shelf, and extract the preset target position determined by the current logistics transport vehicle and mark it on the layout diagram. The initial path is the shortest path calculated from the current LED position of the logistics vehicle to the preset target position based on the parameter values ​​of each path on the layout diagram. The preset target position is reached when the LED of the logistics vehicle receives the maximum signal strength from the LED at the preset target position.

4. A logistics positioning and navigation system based on visible light communication according to claim 3, characterized in that: The operation to derive the layout diagram of the logistics transportation vehicle's movement is as follows: Set up a plane coordinate system, and use the two adjacent internal boundaries of the logistics warehouse as the intersecting coordinate axes of the plane coordinate system. Transform each corner point of the logistics warehouse rack into coordinates and introduce them into the plane coordinate system to obtain the layout position of the rack. Furthermore, the layout information of LED lights is associated with the layout location of the shelves. At the same time, by determining the path width size without obstacles, the path width threshold for transport vehicles is extracted. Each path width size is compared with the path width threshold, and the path with the path width size greater than the path width threshold is a useful path, while the path with the path width size less than the path width threshold is a useless path.

5. A logistics positioning and navigation method based on visible light communication, employing a logistics positioning and navigation system based on visible light communication as described in any one of claims 1-4, characterized in that: Specifically, the following steps are included: S1. Multiple LED lights are installed on the logistics warehouse shelves and transport vehicles to determine the specific location information; S2. Combine the information to obtain the layout diagram of the logistics transportation vehicle's movement, then introduce logistics parameter information to determine whether to add supplementary tasks, and determine the final route planning based on the distance of the route, the loading status of the goods, and the time required to complete the initial task. S3. Based on the final route plan, the data is transmitted to the logistics transportation vehicle to realize positioning and navigation operations.

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