A four-way vehicle scheduling method, system and its equipment

Abstract

The present invention discloses a four-way vehicle scheduling method, system and device thereof. The present invention relates to the technical field of visual intelligent control, and is used to solve the problems in the prior art that the paths of four-way vehicles overlap and cannot be avoided in time, resulting in poor stability of four-way vehicles. By collecting the position information of the four-way vehicle and the environmental information around the four-way vehicle; collecting the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle; determining the surrounding state information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; analyzing the cargo image information and the running track image information to determine the cargo state information and the track running state information; scheduling the running path of the four-way vehicle based on the surrounding state information, the cargo state information and the track running state information. Abnormal warning, timely avoidance of path overlap, etc. are achieved, reducing the abnormal situation of the vehicle body and congestion, thereby ensuring the stability of the operation of the four-way vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of visual intelligent control, and in particular to a four-way vehicle scheduling method, system and device thereof. Background Art

[0002] Most of the four-way vehicles on the market at present can only move back and forth on a straight track. However, the four-way vehicle is equivalent to an intelligent warehousing robot, which can be connected to the warehouse management system (WMS system) through a wireless network, and then cooperate with the elevator to reach any storage location in the warehouse, belonging to a three-dimensional four-way vehicle. The flexibility of the four-way vehicle stereo warehouse is also very high. It can change the lanes at will and can also adjust the operation ability of the system by arbitrarily increasing or decreasing the number of four-way vehicles. In addition, because the four-way vehicle stereo warehouse system is modular and standardized, all four-way vehicles can be replaced with each other, and the tasks of the malfunctioning four-way vehicle can be continued by any other four-way vehicle. The safety and stability of the four-way vehicle stereo warehouse system are relatively higher than those of traditional four-way garages. The four-way vehicle system is not only suitable for low-flow, high-density storage scenarios, but also suitable for high-flow, high-density storage picking scenarios.

[0003] The four-way vehicle is controlled by PLC, and its core computing ability is weak; the four-way vehicle travels in reverse on the laid track and uses bottom address recognition, which has high requirements for the track; it uses WIFI network, with weak anti-interference ability, poor stability, and limited bandwidth; the running path of the four-way vehicle is completely planned according to the central scheduling system, which has high requirements for the hardware configuration of the central scheduling system and the server.

[0004] Therefore, a more reliable four-way vehicle scheduling scheme is needed. Summary of the Invention

[0005] The purpose of the present invention is to provide a four-way vehicle scheduling method, system and device thereof, which are used to solve the problem that the paths of four-way vehicles overlap in the prior art and cannot be avoided in time, resulting in poor stability of four-way vehicles.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] The present invention provides a four-way vehicle scheduling method, which runs in a 5G communication network. The method includes:

[0008] Collect the position information of the four-way vehicle and the environmental information around the four-way vehicle;

[0009] Collect the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle;

[0010] Based on the position information of the four-way vehicle and the environmental information around the four-way vehicle, determine the surrounding state information of the four-way vehicle;

[0011] Analyze the cargo image information and the running track image information to determine the cargo status information and the track running status information;

[0012] Schedule the running path of the four-way vehicle based on the surrounding status information, the cargo status information, and the track running status information.

[0013] The present invention provides a four-way vehicle scheduling system, and the system includes:

[0014] A 5G communication module; the 5G communication module is used to provide a 5G communication network for the system;

[0015] A data acquisition module; the data acquisition module includes an RFID identification module, a photoelectric induction module, and a vision acquisition module. The RFID identification module is used to acquire the position information of the four-way vehicle, the photoelectric induction module is used to acquire the environmental information around the four-way vehicle, and the vision acquisition module is used to acquire the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle;

[0016] An edge computing module; the edge computing module is used to determine the surrounding status information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; analyze the cargo image information and the running track image information to determine the cargo status information and the track running status information; schedule the running path of the four-way vehicle based on the surrounding status information, the cargo status information, and the track running status information.

[0017] The present invention provides a four-way vehicle scheduling device, and the device operates in a 5G communication network. The device includes:

[0018] A communication unit / communication interface, which is used to acquire the position information of the four-way vehicle and the environmental information around the four-way vehicle; acquire the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle;

[0019] A processing unit / processor, which is used to determine the surrounding status information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle;

[0020] Analyze the cargo image information and the running track image information to determine the cargo status information and the track running status information;

[0021] Schedule the running path of the four-way vehicle based on the surrounding status information, the cargo status information, and the track running status information.

[0022] Compared with the prior art, a four-way vehicle scheduling method provided by the present invention collects the position information of the four-way vehicle and the environmental information around the four-way vehicle; collects the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle; determines the peripheral state information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; analyzes the cargo image information and the running track image information to determine the cargo state information and the track running state information; and schedules the running path of the four-way vehicle based on the peripheral state information, the cargo state information, and the track running state information. It can achieve abnormal early warning, timely avoidance of path overlap, etc., reduce vehicle body abnormalities and congestion, and thus ensure the stability of the four-way vehicle operation.

[0023] The four-way vehicle scheduling system builds a stable and reliable network environment by adding a 5G network. In addition, by adding a visual acquisition module, it first monitors the track state, can give early warning of track abnormalities, and manual intervention can be carried out. The path of the next task can avoid abnormal tracks as much as possible, and the track position information where the vehicle body is located is collected to improve the positioning accuracy. By adding an edge computing module, the operation and processing ability of the four-way vehicle is improved to cope with complex and changeable on-site environmental conditions. Brief Description of the Drawings

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 It is a schematic structural diagram of the four-way vehicle scheduling system provided by the present invention;

[0026] Figure 2 It is a schematic flow diagram of the four-way vehicle scheduling method provided by the embodiments of this specification;

[0027] Figure 3 It is a schematic structural diagram of a four-way vehicle scheduling device provided by the present invention.

[0028] Brief Description of the Drawings: 10 - Four-way vehicle, 110 - 5G communication module, 120 - RFID identification module, 130 - Photoelectric induction module, 140 - Visual acquisition module, 150 - Image analysis module, 160 - Negotiation module. Detailed Embodiments

[0029] For the convenience of clearly describing the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and do not limit their sequence. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and the terms such as "first" and "second" do not necessarily limit being different.

[0030] It should be noted that in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0031] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b or c can represent: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b and c can be single or multiple.

[0032] Before introducing the embodiments of the present invention, the following interpretations are made for the relevant terms involved in the embodiments of the present invention:

[0033] Edge computing refers to an open platform that integrates network, computing, storage, and application core capabilities on the side close to the object or the data source, providing the nearest-end services nearby. Its application programs are initiated on the edge side, generating faster network service responses and meeting the basic needs of the industry in aspects such as real-time services, application intelligence, security, and privacy protection. Edge computing is between physical entities and industrial connections, or at the top of physical entities. And cloud computing can still access the historical data of edge computing.

[0034] Radio Frequency Identification (RFID) technology, also known as wireless radio frequency identification, is a communication technology, commonly known as an electronic tag. It can identify specific targets through radio signals and read and write relevant data without establishing mechanical or optical contact between the identification system and the specific target. The radio frequency is generally microwave, 1 - 100 GHz, suitable for short-distance identification communication.

[0035] A four-way vehicle refers to a storage robot that can shuttle in four directions (front, back, left, and right) within a plane, mainly distinguished from traditional two-way vehicles (forward and backward). Compared with AGVs, four-way vehicle robots need to run on tracks, which is both their disadvantage and advantage. That is, when running on fixed tracks, the vehicle will be faster, the positioning will be more accurate, and the control will be relatively simple, which the AGV system cannot achieve. According to the different types of processing units, four-way vehicles can be mainly divided into two types: bin four-way vehicles and pallet four-way vehicles. A four-way vehicle generally has two sets of wheel systems, one responsible for walking in the X direction and the other responsible for walking in the Y direction. When the vehicle runs on the track and encounters a turning point, it completes the turn by changing the wheel system. Therefore, the direction of the cargo unit remains unchanged throughout the operation time.

[0036] Existing four-way vehicles use PLC control, with weak core computing power; four-way vehicles change directions and travel on the laid tracks and use bottom address recognition, which requires high standards for the tracks; they use WIFI networks, with weak anti-interference ability, poor stability, and limited bandwidth; the operation path of four-way vehicles is completely planned according to the central dispatching system, which requires high hardware configuration for the central dispatching system and servers.

[0037] Based on the above problems, the present invention provides a four-way vehicle dispatching method, system, and its equipment. Next, it will be described in combination with the solutions in the embodiments:

[0038] Figure 1 This is a schematic structural diagram of the four-way vehicle dispatching system provided by the present invention. The four-way vehicle dispatching system provided by the present invention may include:

[0039] A 5G communication module 110; the 5G communication module 110 is used to provide a 5G communication network for the system; of course, in actual applications, 5G communication can also be replaced with other communication technologies, which can be determined according to actual needs, for example: WiFi, 2G, 4G, etc.

[0040] Data acquisition module; the data acquisition module includes an RFID identification module 120, a photoelectric induction module 130, and a vision acquisition module 140. The RFID identification module 120 is used to collect the position information of the four-way vehicle 10. The photoelectric induction module 130 is used to collect the environmental information around the four-way vehicle 10. The vision acquisition module 140 is used to collect the cargo image information transported by the four-way vehicle 10 and the running track image information of the four-way vehicle 10.

[0041] Edge computing module; the edge computing module is used to determine the peripheral status information of the four-way vehicle 10 based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; analyze the cargo image information and the running track image information to determine the cargo status information and the track running status information; schedule the running path of the four-way vehicle 10 based on the peripheral status information, the cargo status information, and the track running status information. Specifically, it can be combined with Figure 1 for illustration. As Figure 1 shown, RFID identification modules 120, photoelectric induction modules 130, and vision acquisition modules 140 are installed in the front, back, left, and right directions of the four-way vehicle 10. The edge computing module may include an image analysis module 150 and a negotiation module 160. By adding a 5G network, a stable and reliable network environment is established. In addition, by adding a vision acquisition module 140, the track status can be monitored first, early warning of track anomalies can be given, manual intervention can be carried out, and the path of the next task can avoid abnormal tracks as much as possible. The position information of the track where the vehicle body is located is collected to improve the positioning accuracy. By adding an edge computing module, the computing and processing capabilities of the four-way vehicle 10 are improved to cope with complex and changeable on-site environmental conditions.

[0042] In practical applications, compared with traditional three-dimensional storage systems, the biggest change in the four-way vehicle system is the shelves. Tracks need to be laid on all paths passed by the trolley, and special transfer plates are required at turning intersections. In terms of positioning, the positioning of the four-way vehicle generally uses barcodes and end point switches for positioning. The positioning accuracy requirement is within 3 mm. What is simpler than an AGV is that because it runs on a fixed track, the four-way vehicle does not require a navigation system. When powering, the capacitor + lithium battery method can be used. The capacitor should ensure that one charge can complete the farthest operation at one time, and the battery can only be used as auxiliary power supply to prevent the trolley from losing power or having too low voltage in the middle and being unable to work. For the four-way vehicle, there are often multiple vehicles operating in one operation area. How to improve the overall efficiency of the system requires operation scheduling of the trolley. The content of scheduling includes: vehicle condition identification, which vehicle to choose, route planning, etc. To better realize the scheduling of the four-way vehicle, further, the data acquisition module may specifically include:

[0043] RFID identification module: used to collect the RFID chip information installed in each cargo location.

[0044] Photoelectric induction module: used to collect the positioning information of the storage locations in the three-dimensional warehouse; identify whether there is goods on the four-way vehicle and whether the position of the goods is normal; identify whether there are obstacles at the front and rear ends.

[0045] Vision acquisition module: can cooperate with the photoelectric induction module to collect the positioning information of the storage locations; collect the status information of the running track of the four-way vehicle, whether the track is free of pollution and damage, and whether there are interference objects, etc.; identify the goods information, such as the goods barcode, the shape of the goods, etc.

[0046] The network communication module can specifically: 5G communication module: replace the existing WIFI communication with 5G communication.

[0047] Furthermore, the edge computing module can specifically:

[0048] Image analysis module: used to analyze and process the images collected by the vision acquisition module in real time, so as to ensure the stability of the system operation; perform data analysis to obtain the status information of the current storage location and track, and analyze according to the status information, if it will affect the operation of the subsequent vehicle body, give an early warning display in time.

[0049] Negotiation module: through the negotiation module, multiple four-way vehicle bodies interact with each other's position information and status information in real time, etc. The negotiation module can also interact with the scheduling system. Each of the four-way vehicles interacts with its own surrounding status information, goods status information, track operation status information, position information, power information, and abnormal information, etc. When the status information is an abnormal surrounding environment status, an abnormal goods status, or an abnormal track status, re-plan its own operation path.

[0050] For Figure 1 The four-way vehicle scheduling system in, has a corresponding scheduling method. Applying this scheduling method can schedule the four-way vehicle according to the real-time operation status of the four-way vehicle. Specifically, it can be combined with the attached Figure 2 Describe the solution provided in the embodiments of this specification:

[0051] Figure 2 Is the flow chart of the four-way vehicle scheduling method provided in the embodiments of this specification. As Figure 2 Shown, this process can include the following steps:

[0052] Step 210: Collect the position information of the four-way vehicle and the environmental information around the four-way vehicle.

[0053] The location information can be the information obtained by positioning the four-way vehicle, which can track the position of the four-way vehicle in real time, so as to obtain the position information of the four-way vehicle. In the specific implementation process, there are various ways to track the position of the four-way vehicle. For example, an RFID chip can be installed at any position of the four-way vehicle, and the position of the four-way vehicle can be tracked through radio frequency technology. In addition, the four-way vehicle can also be tracked directionally through a camera, and the position of the four-way vehicle can be tracked by continuously collecting the image information of the four-way vehicle. In practical applications, the position tracking of the four-way vehicle can be set according to the actual situation. As long as the solution is used to track the position of the four-way vehicle to obtain the position information of the four-way vehicle, it belongs to the protection scope of the present invention.

[0054] The environmental information around the four-way vehicle includes whether there are obstacles around the four-way vehicle, whether there are abnormal other four-way vehicles, and whether it is congested, etc.

[0055] Step 220: Collect the image information of the goods transported by the four-way vehicle and the image information of the running track of the four-way vehicle.

[0056] When the four-way vehicle transports goods, it is necessary to collect the image information of the goods transported by the four-way vehicle and the image information of the running track of the four-way vehicle. By executing this step, it can be first judged whether the four-way vehicle is currently transporting goods through the collected goods image information. If there are goods transported on the four-way vehicle, it can be further judged whether the placement position of the goods on the four-way vehicle meets the requirements according to the goods image. For example, an improper placement position of the goods may cause the goods to fall during transportation.

[0057] Based on the running track information, it can be judged whether the running track is damaged, whether there are interfering objects, etc. If there are abnormalities in the running track, the running path of the four-way vehicle can be re-planned and other tracks can be selected for travel.

[0058] Step 230: Determine the surrounding state information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle.

[0059] According to the tracking of the four-way vehicle and the environmental information around the four-way vehicle, the surrounding state information of the four-way vehicle can be determined. Among them, the surrounding state information can include whether the surrounding is congested, whether there are interfering objects, whether the track is damaged, etc.

[0060] Step 240: Analyze the goods image information and the running track image information to determine the goods state information and the track running state information.

[0061] The goods state is used to indicate whether there is damage to the goods itself, the type information of the goods itself, etc.

[0062] Step 250: Schedule the running path of the four-way vehicle based on the surrounding status information, cargo status information, and track running status information.

[0063] In practical applications, Figure 1 each module in can be connected to the scheduling system for information interaction. Specifically, each module can upload the collected information or the processed information to the scheduling system. The scheduling system determines the position of the four-way vehicle, the surrounding environment of the four-way vehicle, the status of the running track of the four-way vehicle, and the relevant information of the goods transported by the four-way vehicle, etc. based on the information uploaded by each module. Based on this information, a path is planned for the four-way vehicle. If there are no abnormalities in the transportation path of the four-way vehicle, the surrounding environment, the transported goods, and the four-way vehicle itself, there is no need to schedule the current path of the four-way vehicle.

[0064] Figure 2 In the method of, by collecting the position information of the four-way vehicle and the environmental information around the four-way vehicle; collecting the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle; determining the surrounding status information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; analyzing the cargo image information and the running track image information to determine the cargo status information and the track running status information; scheduling the running path of the four-way vehicle based on the surrounding status information, cargo status information, and track running status information. Abnormal warnings, timely avoidance of path overlaps, etc. are achieved, reducing vehicle body abnormalities and congestion, thereby ensuring the stability of the four-way vehicle operation.

[0065] Based on Figure 2 For the method of, the embodiments of this specification also provide some specific implementation manners of this method, which will be described below.

[0066] Optionally, the collecting the position information of the four-way vehicle and the environmental information around the four-way vehicle may specifically include:

[0067] Based on the RFID identification method, collect the position information of the four-way vehicle; the RFID identification module in can be used, and the RFID identification module can be various types of radio frequency identifiers, for example: some ultra-high frequency RFID readers. Figure 1 Use the optoelectronic induction module to track the position of the four-way vehicle and obtain the environmental information around the four-way vehicle; the optoelectronic induction module can use optoelectronic devices in semiconductor devices, for example: photovoltaic cells, photoresistors, phototransistors, CCD devices used in cameras, and optocouplers, etc.

[0068] The collecting the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle may specifically include:

[0069] The collecting the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle may specifically include:

[0070] Adopt a visual acquisition module to acquire the image information of the running track, identify the identification information on the goods transported by the four-way vehicle, and based on the identification information, acquire the image information of the goods.

[0071] The machine vision detection mode generally first obtains the digital image of the product through an optical imaging and image acquisition device, and then uses a computer to perform image processing to obtain relevant detection information. It can be collected by a vision detection device, which can include a light source, a lens, a camera, an image acquisition card, image processing software, and system integration, etc. Of course, in actual applications, the vision detection device can be defined according to actual application requirements, as long as it can collect the relevant image information of the four-way vehicle, it belongs to the protection scope of the present invention.

[0072] Optionally, the goods status information may include goods type information, goods abnormal status, and goods normal status; the goods abnormal status may at least include goods abnormality or goods position abnormality;

[0073] The track operation status information may include track abnormal status and track normal status; the track abnormal status may at least include track pollution or the existence of interference objects on the track;

[0074] Analyze the goods image information and the running track image information to determine the goods status information and the track operation status information, which may specifically include:

[0075] Adopt an edge computing method to analyze whether the image parameters corresponding to the goods image information and the running track image information meet the preset threshold to obtain an analysis result;

[0076] If the analysis result indicates goods abnormality or goods position abnormality, determine that the goods status information is the goods abnormal status; if the analysis result indicates that both the goods and the goods position are normal, and there are no damages, interference objects or other abnormalities on the track, then the track operation status information is the track normal status.

[0077] Optionally, an RFID chip may also be installed on the goods location in the stereoscopic warehouse; Figure 2 The method in may further include:

[0078] Based on the RFID identification method, collect the location information of the goods locations in the stereoscopic warehouse;

[0079] Based on the location information and the identification information, judge whether the goods meet the preset conditions for being stored in the location; obtain a first judgment result; the preset conditions at least include goods size information and goods type information;

[0080] If the first judgment result indicates that the goods do not meet the preset conditions for being stored in the goods location, the goods will be transported to the abnormal goods location.

[0081] In practical applications, there are multiple goods locations in the stereoscopic warehouse. For the convenience of management, generally, the goods to be stored in each goods location are classified. Therefore, when identifying the goods transported by the four-way vehicle, the goods type corresponding to the goods transported by the four-way vehicle can be determined to determine whether the goods location that the goods reach according to the current path can store the goods. If the goods location does not correspond to the goods, the path of the four-way vehicle needs to be re-planned. Among them, when determining the goods type corresponding to the goods, it can be determined based on the identification information of the goods. There can be a label on the goods, and the label can be a QR code, a bar code or other text information.

[0082] In addition to judging whether the goods meet the storage requirements according to the goods type, it is also necessary to judge whether the size of the goods can meet the requirements for being stored in the goods location. If the size of the goods does not meet the requirements, the goods will be stored in other goods locations. If all the goods locations in the stereoscopic warehouse do not meet the requirements, the goods can be placed in the designated abnormal goods.

[0083] Through the above method, it is possible to judge in advance whether the goods correspond to the goods location based on the goods image information and the track image information. If they do not correspond, the path of the four-way vehicle can be changed in time.

[0084] Optionally, there are multiple four-way vehicles; the surrounding state information can at least include: the normal state of the surrounding environment and the abnormal state of the surrounding environment; the abnormal state of the surrounding environment can at least include that there are obstacles around the four-way vehicle.

[0085] The scheduling of the running path of the four-way vehicle based on the surrounding state information, the goods state information and the track running state information can specifically include:

[0086] Each four-way vehicle interacts with each other's surrounding state information, goods state information and track running state information. When the state information is the abnormal state of the surrounding environment, the abnormal state of the goods or the abnormal state of the track, the running path of itself is re-planned.

[0087] Optionally, the scheduling of the running path of the four-way vehicle based on the surrounding state information, the goods state information and the track running state information can specifically include:

[0088] Upload the surrounding state information, the goods state information and the track running state information to the scheduling system, and obtain the task instructions issued by the scheduling system;

[0089] Schedule the running path based on the task instructions.

[0090] Combined with Figure 1 and Figure 2 , Figure 1 The photoelectric induction module in it can obtain the position information of the vehicle body for real-time tracking of the position of the trolley; it can also obtain the status information around the vehicle body for anti-collision alarm, avoidance judgment, etc.; it obtains the status information of the goods position on the vehicle body (such as whether there is skew, etc.) for early warning to avoid the risk of goods dumping or even rollover; the visual acquisition module can obtain the information of the goods for allocating the roadway goods positions that meet the storage conditions and confirming whether there is any abnormality in the goods. If the goods are abnormal, they need to be transported to the abnormal position for manual intervention; it obtains the track information passed by the vehicle body to judge whether the track is free of damage, whether there are interfering objects, etc., and whether it will affect the subsequent operation of the trolley, and gives an early warning prompt for maintenance; in cooperation with other modules, it collects the track position information where the vehicle body is located to increase the accuracy of positioning;

[0091] The 5G communication module can ensure the smoothness of the four-way vehicle information interaction channel. Especially in the case of video streams and large amounts of data, the image analysis module analyzes whether the relevant parameters meet the requirements according to the image information collected by the visual acquisition module; the negotiation module helps each four-way vehicle to interact the position and status information in real time, and can plan a new route in time when the vehicle in front has an abnormality or the vehicle in front detects an abnormal track to avoid traffic jams; it is used for communication with the central dispatching system, can obtain the task instructions and path planning issued by the central dispatching system, and report the vehicle body information (including but not limited to position information, power information, abnormal information, etc.) to facilitate the task processing of the central dispatching system.

[0092] By adding a 5G network, a stable and reliable network environment is established. In addition, by adding a visual acquisition module, first monitor the track status, can give an early warning of track abnormalities, and manual intervention can be carried out. The path of the next task can avoid the abnormal track as much as possible, and collect the track position information where the vehicle body is located to increase the accuracy of positioning. By adding an edge computing module, the operation and processing ability of the four-way vehicle is improved to cope with the complex and changeable on-site environmental conditions.

[0093] Based on the same idea, the embodiment of this specification also provides a four-way vehicle dispatching device. Figure 3 It is a schematic structural diagram of a four-way vehicle dispatching device provided by the present invention. It may include:

[0094] A communication unit / communication interface, which is used to collect the position information of the four-way vehicle and the environmental information around the four-way vehicle; collect the image information of the goods transported by the four-way vehicle and the image information of the running track of the four-way vehicle;

[0095] A processing unit / processor, which is used to determine the peripheral status information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle;

[0096] Analyze the goods image information and the running track image information to determine the goods status information and the track running status information;

[0097] Schedule the running path of the four-way vehicle based on the surrounding status information, the goods status information, and the track running status information.

[0098] As Figure 3 shown, the above terminal device may further include a communication line. The communication line may include a path for transmitting information between the above components.

[0099] As Figure 3 shown, the memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), or other type of dynamic storage device that can store information and instructions, or it may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through a communication line. The memory may also be integrated with the processor.

[0100] Optionally, the computer-executable instructions in the embodiments of the present invention may also be referred to as application program code, and the embodiments of the present invention do not make specific limitations thereto.

[0101] In a specific implementation, as an embodiment, as Figure 3 shown, the processor may include one or more CPUs, such as Figure 3 CPU0 and CPU1 in

[0102] In a specific implementation, as an embodiment, as Figure 3 shown, the terminal device may include multiple processors, such as Figure 3 the processors in

[0103] Based on the same idea, the embodiments of this specification also provide a corresponding computer storage medium for the above embodiments. Instructions are stored in the computer storage medium, and when the instructions are run, the patent retrieval display method is implemented.

[0104] The above mainly introduces the solutions provided by the embodiments of the present invention from the perspective of the interaction between various modules. It can be understood that, in order to implement the above functions, each module includes the corresponding hardware structure and / or software unit for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0105] The embodiments of the present invention can divide functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present invention is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0106] The processor in this specification can also have the function of a memory. The memory is used to store computer execution instructions for implementing the solution of the present invention, and is controlled by the processor to execute. The processor is used to execute the computer execution instructions stored in the memory, thereby implementing the method provided by the embodiments of the present invention.

[0107] The memory can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or it can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory can exist independently and be connected to the processor through a communication line. The memory can also be integrated with the processor.

[0108] Optionally, the computer-executable instructions in the embodiments of the present invention can also be referred to as application program code, and the embodiments of the present invention do not make specific limitations thereto.

[0109] The methods disclosed in the above embodiments of the present invention can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above methods can be completed through the integrated logic circuit in the hardware of the processor or instructions in software form. The above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the methods disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as a random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above methods.

[0110] In a possible implementation, a computer-readable storage medium is provided, in which instructions are stored, and when the instructions are run, they are used to implement the logical operation control method and / or the logical operation reading method in the above embodiments.

[0111] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user device, or other programmable devices. The computer program or instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid state drive (SSD).

[0112] Although the present invention has been described in conjunction with various embodiments, however, in the process of implementing the claimed invention, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0113] Although the present invention has been described in conjunction with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of the present invention. Accordingly, the present specification and the drawings are merely exemplary illustrations of the invention defined by the appended claims, and are considered to have covered

[0114] Any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to cover these changes and modifications.

Claims

1. A four-way vehicle scheduling method, characterized in that, The method runs in a 5G communication network, and the method includes: Install an RFID chip on the four-way vehicle; collect the position information of the four-way vehicle based on the RFID identification method; use an optoelectronic induction module to track the position of the four-way vehicle; Collect the environmental information around the four-way vehicle; Collect the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle; Based on the position information of the four-way vehicle and the environmental information around the four-way vehicle, determine the surrounding state information of the four-way vehicle; Analyze the cargo image information and the running track image information to determine the cargo state information and the track running state information; the cargo state information includes cargo type information, cargo abnormal state, and cargo normal state; the cargo abnormal state at least includes cargo abnormality or cargo position abnormality; the track running state information includes track abnormal state and track normal state; the track abnormal state at least includes track damage or the existence of interference on the track; use the edge computing method to analyze whether the image parameters corresponding to the cargo image information and the running track image information meet the preset threshold to obtain an analysis result; if the analysis result indicates cargo abnormality or cargo position abnormality, then determine that the cargo state information is the cargo abnormal state; if the analysis result indicates track damage or the existence of interference on the track, then the track running state information is the track abnormal state; Schedule the running path of the four-way vehicle based on the surrounding state information, cargo state information, and track running state information.

2. The method according to claim 1, characterized in that, The collection of the environmental information around the four-way vehicle specifically includes: Use an optoelectronic induction module to obtain the environmental information around the four-way vehicle; The collection of the cargo image information transported by the four-way vehicle and the running track image information of the four-way vehicle specifically includes: Use a vision acquisition module to collect the running track image information and identify the identification information on the cargo transported by the four-way vehicle, and based on the identification information, collect the cargo image information.

3. The method according to claim 2, wherein An RFID chip is installed on the storage location in the stereoscopic warehouse; the method further includes: Collect the storage location information of the storage location in the stereoscopic warehouse based on the RFID identification method; Based on the storage location information and the identification information, judge whether the cargo meets the preset conditions for storing in the storage location; obtain a first judgment result; the preset conditions at least include cargo size information and cargo type information; If the first judgment result indicates that the cargo does not meet the preset conditions for storing in the storage location, then transport the cargo to the abnormal storage location.

4. The method according to claim 1, characterized in that, There are multiple four-way vehicles; The surrounding state information at least includes: surrounding environment normal state and surrounding environment abnormal state; the surrounding environment abnormal state at least includes the presence of obstacles around the four-way vehicle; Scheduling the running path of the four-way vehicle based on the surrounding state information, cargo state information, and track running state information specifically includes: Each of the four-way vehicles exchanges its own surrounding status information, cargo status information, and track operation status information with each other. When the status information indicates an abnormal surrounding environment status, an abnormal cargo status, or an abnormal track status, it re-plans its own operation path.

5. The method according to claim 1, characterized in that, Scheduling the operation path of the four-way vehicle based on the surrounding status information, cargo status information, and track operation status information specifically includes: Uploading the surrounding status information, cargo status information, and track operation status information to the scheduling system and obtaining the task instructions issued by the scheduling system; Scheduling the operation path of the four-way vehicle based on the task instructions.

6. The method according to claim 4, characterized in that, When the status information indicates an abnormal surrounding environment status, an abnormal cargo status, or an abnormal track status, a warning display is performed.

7. A four-way vehicle scheduling system, characterized in that, The system includes: A 5G communication module; the 5G communication module is used to provide a 5G communication network for the system; A data acquisition module; the data acquisition module includes an RFID identification module, a photoelectric induction module, and a visual acquisition module. The RFID identification module is used to acquire the position information of the four-way vehicle, the photoelectric induction module is used to acquire the environmental information around the four-way vehicle, and the visual acquisition module is used to acquire the cargo image information transported by the four-way vehicle and the operation track image information of the four-way vehicle; An edge computing module; the edge computing module is used to determine the surrounding status information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; analyze the cargo image information and the operation track image information to determine the cargo status information and the track operation status information; the cargo status information includes cargo type information, abnormal cargo status, and normal cargo status; the abnormal cargo status at least includes abnormal cargo or abnormal cargo position; the track operation status information includes abnormal track status and normal track status; the abnormal track status at least includes track damage or the presence of interference on the track; using the edge computing method, analyze whether the image parameters corresponding to the cargo image information and the operation track image information meet the preset threshold to obtain an analysis result; if the analysis result indicates abnormal cargo or abnormal cargo position, then determine that the cargo status information is an abnormal cargo status; if the analysis result indicates track damage or the presence of interference on the track, then the track operation status information is an abnormal track status; schedule the operation path of the four-way vehicle based on the surrounding status information, cargo status information, and track operation status information.

8. The system according to claim 7, wherein There are multiple four-way vehicles; the edge computing module includes an image analysis module and a negotiation module. The negotiation module interacts with the scheduling system, and each of the four-way vehicles exchanges its own surrounding status information, cargo status information, and track operation status information with each other. When the status information is an abnormal surrounding environment status, an abnormal cargo status, or an abnormal track status, it re-plans its own operation path.

9. A four-way vehicle scheduling device, characterized in that, The device operates in a 5G communication network, and the device includes: A communication unit / communication interface for collecting the position information of the four-way vehicle and the environmental information around the four-way vehicle; collecting the image information of the goods transported by the four-way vehicle and the image information of the running track of the four-way vehicle; A processing unit / processor for determining the surrounding state information of the four-way vehicle based on the position information of the four-way vehicle and the environmental information around the four-way vehicle; Analyzing the goods image information and the running track image information to determine the goods state information and the track running state information; the goods state information includes goods type information, goods abnormal state and goods normal state; the goods abnormal state at least includes goods abnormality or goods position abnormality; the track running state information includes track abnormal state and track normal state; the track abnormal state at least includes track pollution or the existence of interference objects on the track; using the edge computing method to analyze whether the image parameters corresponding to the goods image information and the running track image information meet the preset threshold to obtain an analysis result; if the analysis result indicates goods abnormality or goods position abnormality, then determine that the goods state information is the goods abnormal state; if the analysis result indicates track pollution or the existence of interference objects on the track, then the track running state information is the track abnormal state; Scheduling the running path of the four-way vehicle based on the surrounding state information, goods state information and track running state information.

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