CN114019952B - Cooperative transmission path construction method based on micro-conveying unit - Google Patents
Cooperative transmission path construction method based on micro-conveying unit Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 47
- 238000010276 construction Methods 0.000 title claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims description 32
- 238000000034 method Methods 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 7
- 230000008961 swelling Effects 0.000 claims description 4
- 206010042674 Swelling Diseases 0.000 claims 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
According to one or more embodiments of the present disclosure, a collaborative transmission path construction method based on micro-transmission units is provided, by expanding an obstacle section in an obstacle map, reconstructing the obstacle map based on an expanded obstacle section graph, then drawing an original transmission line segment, judging whether an intersection exists between the original transmission line segment and the expanded obstacle section, and finally outputting to obtain an optimized path, and then decomposing each section of a linear path in the optimized path into a linear path formed by splicing a plurality of micro-transmission units based on a minimum length and a maximum length of the micro-transmission units, so as to obtain the number of micro-transmission units on the linear path and the lengths of the micro-transmission units.
Description
Technical Field
One or more embodiments of the present disclosure relate to the technical field of material conveying path planning, and in particular, to a collaborative conveying path construction method based on micro conveying units.
Background
The material conveying is one of the vital working flows in the industrial field, the traditional mode mainly conveys the material in a mode of manual and track laying, but the environment of the industrial field is complex, the obstacle interval is time-varying, the conveying path is often required to be re-planned and adjusted, the mode of manual and track laying is undoubtedly high in cost and low in efficiency, and a more reasonable path planning method is lacked in the prior art.
Disclosure of Invention
In view of this, an object of one or more embodiments of the present disclosure is to provide a cooperative transmission path building method based on micro-transport units, so as to solve the problem of unreasonable path planning method in the prior art.
In view of the above object, one or more embodiments of the present disclosure provide a cooperative conveyance path setting-up method based on micro-conveyance units, based on a plurality of micro-conveyance units that are scalable and movable, the method including:
Acquiring an obstacle map;
expanding the obstacle section in the obstacle map to obtain an expanded obstacle section graph;
Reconstructing the obstacle map according to the expanded obstacle interval graph to obtain a reconstructed obstacle map;
Connecting a transmission starting point and a transmission end point to form an original transmission line segment based on the reconstructed obstacle map, judging whether an intersection exists between the transmission starting point and an expansion obstacle section in the obstacle map based on the original transmission line segment, and outputting the original transmission line segment as an optimal path if the intersection does not exist;
If the intersection exists, taking the end point of the expansion barrier section with the intersection closest to the starting point as a relay point, continuously judging whether a relay path formed by connecting the relay point and the end point is intersected with the expansion barrier section, and if the relay path is intersected with the expansion barrier section, continuously forming a new relay point until the new relay path is not intersected with the expansion barrier section;
sequentially connecting a starting point, each sequentially generated relay point and a terminal point, and outputting the paths as optimal paths;
Dividing the optimal path into a plurality of sections of linear paths which are sequentially connected, and decomposing each section of linear path into linear paths formed by splicing a plurality of micro-conveying units based on the minimum length and the maximum length of the micro-conveying units to obtain the number of the micro-conveying units and the lengths of the micro-conveying units on the linear paths.
Preferably, acquiring the obstacle map includes:
Marking coordinate points according to the range of the obstacle;
Outlining the projection of the obstacle model on the ground;
And the composition is used for obtaining an obstacle map.
Preferably, before expanding the obstacle in the obstacle map, the method further comprises:
And performing convex inclusion treatment on the barrier sections of the non-convex sets to treat all the barrier sections as convex set barrier sections.
Preferably, after all the obstacle sections are processed into the convex set obstacle section, the method further includes:
and carrying out rectangular inclusion on the convex set barrier section by using the maximum contour edge to obtain a rectangular barrier section with only four vertexes reserved.
Preferably, expanding the obstacle section in the obstacle map to obtain the expanded obstacle section pattern includes:
And establishing a rectangular coordinate system on the obstacle map, and expanding the obstacle interval graph of the diagonal vertexes (x 1, y 1) and (x 2, y 2) of the rectangular obstacle interval to new diagonal vertexes (x 1-r, y 1-r), (x2+r, y2+r).
Preferably, determining whether there is an intersection of the original transmission line segment with the inflated obstacle interval in the obstacle map comprises:
obtaining the length L1 of the short side and the length L2 of the long side of the rectangle;
Calculating the distance h from the center of the rectangle to the original transmission line segment and the included angle beta between the original transmission line segment and the long side of the rectangle through a sea-land formula;
if h > L2/2 sin (beta) +L1/2 cos (beta), then determining that there is no intersection between the original transmission line segment and the expansion barrier section, otherwise determining that there is an intersection.
Preferably, when the linear path is decomposed into the linear paths formed by splicing the micro-conveying units, the method further comprises:
knowing that the linear path track length is L, and the conveying range of the micro conveying unit is [ Lmin, lmax ];
When (when) In the time-course of which the first and second contact surfaces,
N is the number of micro-transport units required for the path of the segment
X represents the length of each micro-transport unit.
When (when)
And when the linear path is bulged, decomposing the linear path into paths formed by splicing a plurality of micro-conveying units.
Preferably, the swelling process for the straight path includes:
For any section of path L0 in the straight path, the L0 bulges into two sections which form an angle theta with the straight path, and bulge line segments with the length x are connected, wherein the starting point of one section of bulge line segment is connected with the starting point of the path L0, and the ending point of the other section of bulge line segment is connected with the ending point of the path L0;
the angle θ and the length x conform to the following formula
As can be seen from the foregoing, in the collaborative transmission path construction method based on the micro-transport units provided in one or more embodiments of the present disclosure, by expanding an obstacle section in an obstacle map, reconstructing the obstacle map based on the expanded obstacle section graph, and then drawing an original transmission line segment to determine whether there is an intersection between the original transmission line segment and the expanded obstacle section, if there is an intersection, adjusting the relay path by setting a relay point until there is no intersection between a new relay path and the expanded obstacle section, sequentially connecting a start point, each sequentially generated relay point and an end point, outputting the result as an optimal path, and finally decomposing each section of straight line path in the optimal path into a straight line path formed by splicing a plurality of micro-transport units based on the minimum length and the maximum length of the micro-transport units, thereby obtaining the number of micro-transport units on the straight line path and the length of each micro-transport unit.
Drawings
For a clearer description of one or more embodiments of the present description or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only one or more embodiments of the present description, from which other drawings can be obtained, without inventive effort, for a person skilled in the art.
FIG. 1 is a flow diagram of a collaborative delivery path construction method in accordance with one or more embodiments of the present disclosure;
FIG. 2 is a flowchart of a best path generation algorithm in accordance with one or more embodiments of the present disclosure;
FIG. 3 is a schematic diagram of a path planning effect according to one or more embodiments of the present disclosure;
FIG. 4 is a convex hull schematic of a non-convex barrier region according to one or more embodiments of the present disclosure;
FIG. 5 is a schematic diagram of rectangular inclusion of convex set barrier regions in accordance with one or more embodiments of the present disclosure;
FIG. 6 is a schematic diagram illustrating a rectangular inclusion of convex-set barrier sections according to another embodiment of the present disclosure;
FIG. 7 is a schematic representation of the inflation of a rectangular barrier section according to one or more embodiments of the present disclosure;
FIG. 8 is a schematic view of the expansion of a rectangular barrier section according to another embodiment of the present disclosure;
FIG. 9 is a path segmentation principle flow diagram of one or more embodiments of the present disclosure;
FIG. 10 is a schematic illustration of a "bulge" process of one or more embodiments of the present disclosure;
Fig. 11 is a schematic diagram of path planning in one case of the present specification.
Detailed Description
For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made in detail to the following specific examples.
It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The use of the terms "first," "second," and the like in one or more embodiments of the present description does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
The embodiment of the specification provides a cooperative conveying path constructing method based on micro conveying units, which is based on a plurality of telescopic and movable micro conveying units and comprises the following steps:
S101, acquiring an obstacle map;
For example, acquiring the obstacle map includes:
Marking coordinate points according to the range of the obstacle;
Outlining the projection of the obstacle model on the ground;
And the composition is used for obtaining an obstacle map.
S102, expanding an obstacle section in the obstacle map to obtain an expanded obstacle section graph;
s103, reconstructing the obstacle map according to the expanded obstacle interval graph to obtain a reconstructed obstacle map;
S104, connecting a transmission starting point and a transmission end point to form an original transmission line segment based on the reconstructed obstacle map, judging whether an intersection exists between the transmission starting point and an expanded obstacle section in the obstacle map based on the original transmission line segment, and outputting the original transmission line segment as an optimal path if the intersection does not exist;
S105, if the intersection exists, taking the end point of the expansion barrier section with the intersection closest to the starting point as a relay point, continuously judging whether a relay path formed by connecting the relay point and the end point has the intersection with the expansion barrier section, and if the relay path has the intersection, continuously forming a new relay point until the new relay path has no intersection with the expansion barrier section;
s106, sequentially connecting a starting point, each sequentially generated relay point and a terminal point, and outputting the paths as optimal paths;
s107, dividing the optimal path into a plurality of sections of linear paths which are sequentially connected, and for each section of linear path, decomposing the linear path into a linear path formed by splicing a plurality of micro-conveying units based on the minimum length and the maximum length of the micro-conveying units to obtain the number of the micro-conveying units and the lengths of the micro-conveying units on the linear path.
For example, the micro-transport unit is capable of moving itself and its transport length is capable of telescopic adjustment.
According to the collaborative transmission path construction method based on the micro-transmission units, the obstacle section in the obstacle map is expanded, the obstacle map is reconstructed based on the expanded obstacle section graph, the original transmission line section is drawn, whether the intersection exists between the original transmission line section and the expanded obstacle section or not is judged, if the intersection exists, the relay path is adjusted by setting a relay point until the intersection does not exist between a new relay path and the expanded obstacle section, the starting point, the relay points and the end points generated in sequence are sequentially connected, the optimal path is output, and finally, each section of straight line path in the optimal path is decomposed into the straight line path formed by splicing a plurality of micro-transmission units based on the minimum length and the maximum length of the micro-transmission units, so that the number of the micro-transmission units on the straight line path and the length of each micro-transmission unit are obtained, the transmission path specified by the rule corresponds to the micro-transmission units, the micro-transmission units can be further spliced into the planned transmission path by moving the micro-transmission units and adjusting the telescopic lengths of the micro-transmission units, the materials are transmitted, the laying efficiency of manpower and the tracks is improved, and the transmission cost is reduced.
In one embodiment, the method is preferably applied to a case where the obstacle section is a convex set, but in actual use, the shape of the obstacle section is not constant, so before the obstacle in the obstacle map is inflated, the method further includes performing convex hull processing on the obstacle section which is not the convex set, so that all the obstacle sections are processed as convex set obstacle sections.
The convex set refers to: a set C is convex if the line segment between any two points in C is in C. That is, for any x 1,x2 ε C, θ ε [0,1], there is θx 1+(1-θ)x2 ε C, the convex hull of set C, the set of all convex combinations for all points in C, denoted conv C.
According to the definition of convex inclusion, it can be known that the non-convex set can be changed into a convex hull, and the introduction of the convex hull can cause the expansion (conservation increase) of an obstacle interval, but for a map subjected to convex optimization, the situation of no solution or local optimum after track planning can be avoided.
For the irregular non-convex obstacle section as shown in fig. 4, convex inclusion is needed, in the design of convex inclusion, the evolution process of fig. 4 can be intuitively deduced, and the convex inclusion set on the right of fig. 4 forms a convex set, so that non-optimal solutions in the path planning stage are avoided.
Although the convex set obstacle section avoids the problem of local optimization, the convex set obstacle section contains excessive vertexes and easily causes a large amount of calculation, so the method further comprises the following steps: the convex set barrier section is subjected to rectangular inclusion by the maximum contour edge, so that a rectangular barrier section with only four vertexes is obtained, and although overall conservation is increased, the solving process is practically applied to diagonal points included in the rectangle, so that the data processing capacity is greatly reduced, and the rectangular shape of the convex set barrier section is shown in fig. 5-6.
The rectangle containing process comprises the following steps:
forming a rectangular set by the minimum coordinate values in the set according to the grid point set of the scanned environment map,
Forming a rectangular barrier section.
For example, in order to secure each micro-segment transfer unit from collision with an obstacle section, the rectangular obstacle section should be inflated by the width r of the micro-transfer unit, i.e., a new inflated section for the diagonal vertex (X Min,YMax),(XMax,YMax),(XMin,YMin),(XMax,YMin) of the rectangular obstacle section to a new diagonal vertex (X Min-r,YMax+r),(XMax+r,YMax+r),(XMin-r,YMin-r),(XMax+r,YMin-r), and map reconstruction is performed with this new inflated rectangular obstacle section, as shown in fig. 7-8.
As one embodiment, determining whether there is an intersection of the original transmission line segment with the inflated obstacle interval in the obstacle map comprises:
obtaining the length L1 of the short side and the length L2 of the long side of the rectangle;
Calculating the distance h from the center of the rectangle to the original transmission line segment and the included angle beta between the original transmission line segment and the long side of the rectangle through a sea-land formula;
if h > L2/2 sin (beta) +L1/2 cos (beta), then determining that there is no intersection between the original transmission line segment and the expansion barrier section, otherwise determining that there is an intersection.
When the linear path is decomposed into the linear path formed by splicing a plurality of micro-conveying units, namely the path is segmented, the method further comprises the following steps:
knowing that the linear path track length is L, and the conveying range of the micro conveying unit is [ Lmin, lmax ];
When (when) In the time-course of which the first and second contact surfaces,
N is the number of micro-transport units required for the path of the segment
X represents the length of each micro-transport unit as shown in fig. 9.
After each section of path is determined, the number of the micro-conveying units required is determined, and the central position coordinate (X i,Yi) of each micro-conveying unit is calculated according to a one-dimensional interpolation algorithm of the function.
When (when)
And when the linear path is bulged, decomposing the linear path into paths formed by splicing a plurality of micro-conveying units.
For example, the position and length of each micro-conveying unit are obtained, and pose information of each micro-conveying unit can be further obtained for further control.
The pose of the micro-conveying unit is mainly determined by using a trigonometric function relation, and the pose is taken in a horizontal direction (namely, the positive direction of the X axis) as a reference direction. And solving an included angle value theta i between the direction of the micro-conveying unit and the horizontal direction.
After the path track is divided by the steps, each conveying unit corresponds to the corresponding pose
As one embodiment, the swelling process includes:
For any section of path L0 in the straight path, the L0 bulges into two sections which form an angle theta with the straight path, and bulge line segments with the length x are connected, wherein the starting point of one section of bulge line segment is connected with the starting point of the path L0, and the ending point of the other section of bulge line segment is connected with the ending point of the path L0;
The angle theta and the length x conform to the following formula, as shown in figure 10,
As one embodiment, the method for obtaining the optimal path specifically includes:
And (3) obtaining position coordinates of a starting point A and An ending point B from the input part, connecting the point A and the point B to form An original vector, judging whether the original vector and the obstacle area have An intersection, if not, the original vector is An optimal path, if so, storing the coordinates of the obstacle area with the intersection in the set S1, enabling one end point closest to the point A in the set S1 to be A1, connecting the point A1 with the point B to form a new original vector, judging whether the original vector and the obstacle area have the intersection, and finally connecting A, A a … … An and the point B in sequence to obtain the optimal path until the intersection does not exist, thereby completing path planning.
Case:
Assuming that there are five main obstacle areas in a 3750 square meter (75 m×50 m) logistics factory, the goods are at point a and need to reach point B, we measure the points a, B and the existing obstacles in the factory on site, determine point a (12, 0) B (65, 50), obstacle 1 area matrix (5,33,20,44), obstacle 2 matrix (21,8,34,17), obstacle 3 matrix (39,24,52,32), obstacle 4 matrix (62,5,72,22) and obstacle 5 matrix (65,41,71,44) to input the coordinate data of the obstacles to the upper computer interface, the upper computer expands the obstacle areas, and then displays a path on the upper computer according to the flexible path planning algorithm, and determines the required number of micro-conveying units and the coordinates of each micro-conveying unit on the path on the upper computer map. And then sending the coordinate instruction to each micro-conveying unit through the wireless communication module, and finally after each micro-conveying unit reaches a designated coordinate point, abutting the adjacent conveyor belts and starting each unit conveyor belt to finish cargo transportation, as shown in fig. 11.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; combinations of features of the above embodiments or in different embodiments are also possible within the spirit of the present disclosure, steps may be implemented in any order, and there are many other variations of the different aspects of one or more embodiments described above which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure one or more embodiments of the present description. Furthermore, the apparatus may be shown in block diagram form in order to avoid obscuring the one or more embodiments of the present description, and also in view of the fact that specifics with respect to implementation of such block diagram apparatus are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
The present disclosure is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the one or more embodiments of the disclosure, are therefore intended to be included within the scope of the disclosure.
Claims (6)
1. A method of collaborative delivery path construction based on micro-delivery units, characterized in that it is based on a plurality of micro-delivery units that are scalable and movable, the method comprising:
Acquiring an obstacle map;
expanding the obstacle section in the obstacle map to obtain an expanded obstacle section graph;
Reconstructing the obstacle map according to the expanded obstacle interval graph to obtain a reconstructed obstacle map;
Connecting a transmission starting point and a transmission end point to form an original transmission line segment based on the reconstructed obstacle map, judging whether an intersection exists between the transmission starting point and an expansion obstacle section in the obstacle map based on the original transmission line segment, and outputting the original transmission line segment as an optimal path if the intersection does not exist;
If the intersection exists, taking the end point of the expansion barrier section with the intersection closest to the starting point as a relay point, continuously judging whether a relay path formed by connecting the relay point and the end point is intersected with the expansion barrier section, and if the relay path is intersected with the expansion barrier section, continuously forming a new relay point until the new relay path is not intersected with the expansion barrier section;
sequentially connecting a starting point, each sequentially generated relay point and a terminal point, and outputting the paths as optimal paths;
Dividing the optimal path into a plurality of sections of linear paths which are sequentially connected, and decomposing each section of linear path into linear paths formed by splicing a plurality of micro-conveying units based on the minimum length and the maximum length of the micro-conveying units to obtain the number of the micro-conveying units and the lengths of the micro-conveying units on the linear paths;
When the linear path is decomposed into the linear paths formed by splicing the micro-conveying units, the method further comprises the following steps:
knowing that the linear path track length is L, and the conveying range of the micro conveying unit is [ Lmin, lmax ];
When (when) In the time-course of which the first and second contact surfaces,
；
N is the number of micro-transport units required for the path of the segment
X represents the length of each micro-transport unit;
When (when) When the method is used, the straight path is subjected to swelling treatment and is decomposed into paths formed by splicing a plurality of micro-conveying units;
the swelling process for the straight path comprises the following steps:
for any section of the straight path L0, the L0 bulges into two sections which are formed by the straight path The angle is formed by connecting bulge line segments with the length x, wherein the starting point of one bulge line segment is connected with the starting point of a path L0, and the ending point of the other bulge line segment is connected with the ending point of the path L0;
Angle of And length x corresponds to the following formula:
。
2. the micro-transport unit-based cooperative transportation path construction method according to claim 1, wherein the acquiring the obstacle map includes:
Marking coordinate points according to the range of the obstacle;
Outlining the projection of the obstacle model on the ground;
And the composition is used for obtaining an obstacle map.
3. The cooperative transmission path construction method based on micro-transportation unit according to claim 1, wherein before expanding the obstacle in the obstacle map, the method further comprises:
And performing convex inclusion treatment on the barrier sections of the non-convex sets to treat all the barrier sections as convex set barrier sections.
4. A cooperative transmission path construction method based on micro-transportation units according to claim 3, wherein after all obstacle sections are treated as convex set obstacle sections, the method further comprises:
and carrying out rectangular inclusion on the convex set barrier section by using the maximum contour edge to obtain a rectangular barrier section with only four vertexes reserved.
5. The method for constructing a cooperative transmission path based on a micro-transport unit according to claim 4, wherein expanding the obstacle section in the obstacle map to obtain the expanded obstacle section pattern comprises:
and establishing a rectangular coordinate system on the obstacle map, and expanding the obstacle interval graph of the diagonal vertexes (x 1, y 1) and (x 2, y 2) of the rectangular obstacle interval to new diagonal vertexes (x 1-r, y 1-r), (x2+r, y2+r).
6. The micro-transport unit-based cooperative transport path construction method according to claim 5, wherein determining whether there is an intersection between the original transport line segment and an expansion obstacle section in the obstacle map comprises:
obtaining the length L1 of the short side and the length L2 of the long side of the rectangle;
Calculating the distance h from the center of the rectangle to the original transmission line segment and the included angle beta between the original transmission line segment and the long side of the rectangle through a sea-land formula;
If it is And judging that the intersection does not exist between the original transmission line segment and the expansion obstacle section, and otherwise, judging that the intersection exists.
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