A four-wheel drive transmission system and control method thereof

Abstract

The present invention proposes a four-wheel-driven transmission system and a control method thereof. The transmission system uses a platform constructed with omnidirectional wheels to transport packages. At the same time, the system issues basic control instructions based on distributed multi-agent devices and locates the location of the package through a visual positioning module. The transmission system can replace the traditional single-entry conveyor belt with the four-wheel-driven omnidirectional wheel transmission system proposed by the present invention, transport packages from different sources to the transmission platform through multiple entrances, and then transport them to different destinations using multiple exits, which can effectively improve the sorting efficiency of goods and maximize the utilization of the goods warehouse.

Description

Technical Field

[0001] The invention belongs to the technical field of logistics transmission, and in particular relates to a four-omnidirectional wheel drive transmission system and a control method thereof. Background Art

[0002] In recent years, my country's logistics industry has developed rapidly against the backdrop of the popularization of Internet shopping, but the transportation system within the industry has not been effectively improved. With the increase in logistics pressure, the lag in sorting speed has gradually emerged, and the sorting speed of packages in the warehouse cannot meet the demand during peak periods, which has become a problem that needs to be solved urgently.

[0003] The existing logistics and transportation system is mainly transported by traditional conveyor belts, which have the problems of large floor space and single transportation outlet, and cannot maximize the transportation efficiency of warehouses. At present, there are also smart logistics distribution centers based on the Internet of Things, such as using robotic arms to load and unload packages and stack them, using automatic guided vehicles (AGVs) to transport materials, or seamlessly connecting logistics centers with ERP systems, but these Internet of Things systems only assist in the sorting of goods from the outside, and have not made substantial changes to the transportation efficiency of the conveyor system.

[0004] An omnidirectional wheel is a wheel with rollers on the circumference that are perpendicular to the direction of rotation. The platform built by the omnidirectional wheels can make the goods slide in multiple directions without changing the platform structure, which can effectively solve the problem of a single transportation direction. At present, there are also some transmission platforms with omnidirectional wheels as the core, such as the invention patents with application numbers 2020113588248 and 201910032961.3, both of which propose omnidirectional transmission systems based on three-wheel drive. However, in actual operation, the three-wheel system often has uneven force and cannot transport the goods to the designated location normally. In addition, the existing omnidirectional wheel systems are difficult to provide real-time cargo positioning methods and control methods, and are unable to capture abnormal cargo status in time and correct the position through wheel control. Summary of the invention

[0005] The purpose of the present invention is to solve the problems in the prior art and propose a four-wheel drive transmission system and a control method thereof. The transmission system can effectively improve the transportation efficiency of packages. At the same time, a positioning and control method is proposed for the transmission system, which can transport the package to the destination at a relatively shortest distance and control the position of the package in real time to avoid obstacles.

[0006] The present invention is implemented through the following technical scheme. The present invention proposes a transmission system driven by four omnidirectional wheels, wherein the main body of the transmission system is a transportation platform spliced ​​by multiple transmission modules, wherein the transmission module includes a load-bearing plate 1-1 in the shape of a regular quadrilateral, and at the center of the load-bearing plate 1-1, there is a mounting hole 1-3, and a component consisting of an omnidirectional wheel 1-2 and a driving device is fixed in a cross arrangement. The forward direction of the omnidirectional wheel 1-2 is perpendicular to the edge of the module closest to it, and the axis angle between adjacent omnidirectional wheels 1-2 is 90°. The center points of the four omnidirectional wheels 1-2 are consistent with the center of the load-bearing plate 1-1, and the center point of each omnidirectional wheel 1-2 is 1 / 2 of the length of the load-bearing plate 1-1 from the farther edge of its module. The transportation platform has certain scalability.

[0007] Furthermore, the driving device is a motor 2-1 with a built-in Hall encoder, which is fixed to the bottom surface of the load-bearing plate 1-1 through a support frame and is parallel to the edge of the module. Each motor 2-1 independently controls the speed and direction of the corresponding omnidirectional wheel 1-2. Each omnidirectional wheel 1-2 contacts the package through the groove of the load-bearing plate 1-1. The transmission module is uniformly fixed to the bottom platform 2-3 through the bracket 2-2.

[0008] Furthermore, the motor 2-1 of each transmission module is uniformly controlled by a single driver board 2-4, multiple driver boards 2-4 are uniformly controlled by an upper-level distributed edge device, and multiple distributed edge devices are uniformly controlled by an upper-level server; wherein the motor 2-1 is connected to the driver board 2-4 via a flat cable, the driver board 2-4 is connected to the distributed edge device via a data cable, and control instructions are issued and fed back between the distributed edge device and the server via a wireless LAN.

[0009] Furthermore, the transmission system also includes a visual positioning module located above the platform. The visual positioning module is composed of multiple cameras. There is a certain distance between each camera to ensure that the top view of each package can be accurately identified and the ID can be marked without serious distortion. The information captured by the camera will be transmitted to the server in real time for target detection and re-identification processing.

[0010] The present invention proposes a control method for the transmission system according to the four omnidirectional wheel drive, and the control method is specifically as follows:

[0011] At the beginning, the server side is set according to the existing transmission module size, and the specific location of the goods is determined by the visual positioning module and fed back to the server. After the input and output locations of the goods are determined, the path planning is performed through the A* algorithm to calculate the optimal operation path for a single item;

[0012] Establish a world coordinate system, and determine the movement direction and linear speed of the omnidirectional wheels contained in the designated conveying module when the goods pass through the designated conveying module through kinematic analysis, thereby obtaining control instructions, which are uniformly issued by the server to each distributed edge device, and then specifically issued by the distributed edge device to the designated drive device;

[0013] During transportation, the visual positioning module will monitor the position of each cargo in real time. If a cargo is beyond the field of view of the current camera, the visual positioning module will record the cargo ID and relocate the cargo in time.

[0014] When a faulty module appears in the path, the A* algorithm is used to replan the path and avoid the faulty module. When multiple goods have path conflicts or collisions in the same module, the RVO algorithm is used to avoid obstacles.

[0015] Furthermore, the calculation method of the omnidirectional wheel linear speed of each transmission module is specifically as follows:

[0016] The transport speed of the package is set to V. In this transmission system, there is no rotation of the package, so its angular velocity w is not considered. The axis parallel to the edge of the load-bearing plate is the X-axis, and the axis perpendicular to the X-axis is the Y-axis. The angle between the running direction of the package and the X-axis when passing through the transmission module is set to α. The omnidirectional wheel located at the positive half axis of the Y-axis is omnidirectional wheel a, the omnidirectional wheel at the positive half axis of the X-axis is omnidirectional wheel b, the omnidirectional wheel at the negative half axis of the Y-axis is c, and the omnidirectional wheel at the negative half axis of the X-axis is d;

[0017] Decomposing the package transportation speed V into the X-axis and Y-axis, we have:

[0018]

[0019] Considering that the packages have certain size differences, when the package completely covers the four omnidirectional wheels a, b, c, and d, it is necessary to ensure that the omnidirectional wheels in the same direction run in the same direction and at the same speed to avoid slipping. Therefore, the linear speed V of the four omnidirectional wheels is a ,V b ,V c ,V d as follows:

[0020]

[0021] Furthermore, the specific method of the path planning is:

[0022] The estimation function of the A* algorithm is as follows:

[0023] f(n)=g(n)+h(n)

[0024] Among them, g(n) represents the actual distance from the starting point to any vertex n, and h(n) represents the estimated distance from any vertex n to the target vertex;

[0025] The RVO obstacle avoidance algorithm combines the current speed of the object and the speed of other individuals to average and let A and B take on the obstacle avoidance task equally. The mathematical expression of the RVO obstacle avoidance algorithm is as follows:

[0026]

[0027] in, Indicates speed as V B B is on A's VO.

[0028] Furthermore, the control method uses YOLO v5s as a detection network for mobile targets;

[0029] The next direction of the package is obtained in advance at the intersection of multiple cameras, and the time when the package appears in the next camera is predicted based on the movement direction, speed and time of the wheels under the package. When the package appears under the camera within the allowable error range and the target detection size is the same as the original bound package, the same ID can be bound to complete the package re-identification under multiple cameras; the package re-identification under multiple cameras selects the ReID of the video sequence, and its specific operation process is as follows:

[0030] (1) The next direction of the package is determined by the real-time planned trajectory;

[0031] (2) The encoder provides feedback on the wheel's movement direction, speed and time;

[0032] (3) Build a model to predict the time when the package will appear on the next camera and bind the ID;

[0033] (4) Perform anomaly detection when entering the next camera: If a package ID is no longer bound to a package before the package reaches its destination, an anomaly occurs. There are two possibilities: re-identification failure and package path deviation. The anomaly should be reported in a timely manner.

[0034] The present invention proposes an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of a control method of a transmission system according to the four-omnidirectional wheel drive are implemented.

[0035] The present invention provides a computer-readable storage medium for storing computer instructions, wherein the computer instructions, when executed by a processor, implement the steps of a control method of a transmission system according to the four-omnidirectional wheel drive.

[0036] Beneficial effects of the present invention:

[0037] At present, warehouses in the logistics industry have the problem of large floor space and low cargo transportation efficiency, and there is still a lot of room for optimization. In order to make full use of the warehouse space and avoid congestion caused by logistics sorting under peak conditions, the present invention proposes a four-wheel drive transmission system and its control method. The transmission system can replace the traditional single-entrance and exit conveyor belt with the four-wheel drive omnidirectional wheel transmission system proposed by the present invention, transport parcels from different sources to the transmission platform through multiple entrances, and set multiple exits to different destinations, which can effectively improve the cargo sorting efficiency and maximize the utilization of the cargo warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0039] Figure 1 A top view of a transmission module of the logistics transmission system proposed by the present invention;

[0040] Figure 2 This is a structural diagram of a transmission module of the logistics transmission system proposed by the present invention;

[0041] Figure 3 The overall block diagram of the transmission module consisting of distributed edge devices, single-chip microcomputers, drive devices and omnidirectional wheels;

[0042] Figure 4 The overall block diagram of the omnidirectional wheel transmission system consists of a visual positioning module, a server and a transmission module;

[0043] Figure 5 It is the decomposition diagram of the linear speed of the transmission module;

[0044] Figure 6 This is an example diagram of the actual logistics and transportation platform;

[0045] Figure 7 This is a graph showing the ratio of the number of parcels transported by this transmission system to that of the traditional conveyor belt. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The present invention relates to a logistics transmission system, which adopts a platform constructed with omnidirectional wheels to transport packages. At the same time, the transmission system issues basic control instructions based on distributed multi-intelligent agents and locates the package position through a visual positioning module.

[0048] Combination Figure 1-Figure 7 The present invention proposes a four-wheel drive transmission system, wherein the main body of the transmission system is a transport platform composed of a plurality of transmission modules. Figure 1 As shown, the transmission module includes a load-bearing plate 1-1 in the shape of a regular quadrilateral. In the center of the load-bearing plate 1-1, there is a mounting hole 1-3, and components consisting of omnidirectional wheels 1-2 and a driving device are fixed in a cross arrangement. The forward direction of the omnidirectional wheels 1-2 is perpendicular to the edge of the module closest to it, and the angle between the axes of adjacent omnidirectional wheels 1-2 is 90°. The center points of the four omnidirectional wheels 1-2 are consistent with the center of the load-bearing plate 1-1, and the distance between the center point of each omnidirectional wheel 1-2 and the edge of its module is 1 / 2 of the length of the load-bearing plate 1-1. The transport platform has certain scalability.

[0049] The driving device is a motor 2-1 with a Hall encoder, which is fixed to the bottom surface of the load-bearing plate 1-1 through a support frame and is parallel to the edge of the module. Figure 2 As shown, each motor 2-1 independently controls the speed and direction of the corresponding omnidirectional wheel 1-2, and each omnidirectional wheel 1-2 contacts the package through the slot of the load-bearing plate 1-1. The transmission module is uniformly fixed to the bottom platform 2-3 through the bracket 2-2, and has a certain stability.

[0050] The motor 2-1 of each transmission module is uniformly controlled by a single driver board 2-4, multiple driver boards 2-4 are uniformly controlled by the upper distributed edge device, and multiple distributed edge devices are uniformly controlled by the upper server; wherein the motor 2-1 is connected to the driver board 2-4 through a flat cable, the driver board 2-4 is connected to the distributed edge device through a data cable, and the distributed edge device and the server are controlled by wireless LAN. The specific structure is as follows Figure 3 and Figure 4 shown.

[0051] The transmission system also includes a visual positioning module located above the platform. The visual positioning module is composed of multiple cameras. There is a certain distance between each camera to ensure that the top view of each package can be accurately identified and the ID can be marked without serious distortion. The information captured by the camera will be transmitted to the server in real time for target detection and re-identification processing.

[0052] The present invention proposes a control method for the transmission system according to the four omnidirectional wheel drive, and the control method is specifically as follows:

[0053] At the beginning, the server side is set according to the existing transmission module size, and the specific location of the goods is determined by the visual positioning module and fed back to the server. After the input and output locations of the goods are determined, the path planning is performed through the A* algorithm to calculate the optimal operation path for a single item;

[0054] Establish a world coordinate system, and determine the movement direction and linear speed of the omnidirectional wheels contained in the designated conveying module when the goods pass through the designated conveying module through kinematic analysis, thereby obtaining control instructions, which are uniformly issued by the server to each distributed edge device, and then specifically issued by the distributed edge device to the designated drive device;

[0055] During transportation, the visual positioning module will monitor the position of each cargo in real time. If a cargo is beyond the field of view of the current camera, the visual positioning module will record the cargo ID and relocate the cargo in time.

[0056] When a faulty module appears in the path, the A* algorithm is used to replan the path and avoid the faulty module. When multiple goods have path conflicts or collisions in the same module, the RVO algorithm is used to avoid obstacles.

[0057] The calculation method of the omnidirectional wheel linear speed of each transmission module is as follows:

[0058] Assume that the transport speed of the package is V. In this transmission system, there is no rotation of the package, so its angular velocity w is not considered. The axis parallel to the edge of the load-bearing plate is the X-axis, and the axis perpendicular to the X-axis is the Y-axis. Assume that the angle between the running direction of the package and the X-axis when passing through the transmission module is α, the omnidirectional wheel located at the positive half axis of the Y-axis is the omnidirectional wheel a, the omnidirectional wheel at the positive half axis of the X-axis is the omnidirectional wheel b, the omnidirectional wheel at the negative half axis of the Y-axis is c, and the omnidirectional wheel at the negative half axis of the X-axis is d; Figure 5 shown.

[0059] Decomposing the package transportation speed V into the X-axis and Y-axis, we have:

[0060]

[0061] Considering that the packages have certain size differences, when the package completely covers the four omnidirectional wheels a, b, c, and d, it is necessary to ensure that the omnidirectional wheels in the same direction run in the same direction and at the same speed to avoid slipping. Therefore, the linear speed V of the four omnidirectional wheels is a ,V b ,V c ,V d as follows:

[0062]

[0063] The specific method of the path planning is:

[0064] The A* search algorithm is a heuristic path search algorithm that can ensure that the specified optimal path is found. The estimation function of the A* algorithm is as follows:

[0065] f(n)=g(n)+h(n)

[0066] Among them, g(n) represents the actual distance from the starting point to any vertex n, and h(n) represents the estimated distance from any vertex n to the target vertex;

[0067] Reciprocal Velocity Obstacle, or RVO, is an obstacle avoidance algorithm designed based on the VO algorithm (VelocityObstacles). The RVO (Reciprocal Velocity Obstacle) obstacle avoidance algorithm combines the current speed of the object and the speed of other individuals to average, allowing A and B to equally undertake the obstacle avoidance task, which can effectively prevent the object from shaking while avoiding collision. The mathematical expression of the RVO obstacle avoidance algorithm is as follows:

[0068]

[0069] in, Indicates speed as V B B is on A's VO.

[0070] The control method uses YOLO v5s as the detection network for mobile targets;

[0071] Since the appearance features of express parcels are relatively simple, false detection may occur in real scenarios. At the same time, taking into account the transmission system's requirements for speed and real-time performance, the YOLOv5 model has been optimized to balance speed and accuracy and minimize the occurrence of missed detections and false detections.

[0072] Since the running trajectory of the express package is planned in real time by the upper-level path planning algorithm, and the actual running speed of the wheels is also fed back in real time according to the encoder, the next direction of travel of the package is obtained in advance at the intersection of multiple cameras, and the time when the package appears in the camera of the next camera is predicted based on the movement direction, speed and time of the wheels under the package. When the package appears under the camera within the allowable error range and the target detection size is the same as the original bound package, the same ID can be bound to complete the package re-identification under the cameras of multiple cameras; the package re-identification under the cameras of multiple cameras selects the ReID of the video sequence, and its specific operation process is as follows:

[0073] (1) The next direction of the package is determined by the real-time planned trajectory;

[0074] (2) The encoder provides feedback on the wheel's movement direction, speed and time;

[0075] (3) Build a model to predict the time when the package will appear in the camera of the next camera and bind the ID;

[0076] (4) Perform anomaly detection when entering the next camera: If a package ID is no longer bound to a package before the package reaches its destination, an anomaly occurs. There are two possibilities: re-identification failure and package path deviation. The anomaly should be reported in a timely manner.

[0077] This invention mainly solves the problems of slow sorting speed and single logistics transmission in the logistics transportation system, and can effectively improve the transportation efficiency of goods. Figure 6 The platform shown. In the transmission module, the omnidirectional wheel is a 60mm metal omnidirectional wheel, the motor is a motor with a rated voltage of 12V and a reduction ratio of 1:30 with a Hall encoder, the development board with integrated STM32 is used as the driver board, and the camera is a common wide-angle camera. In the actual test results, the goods can be transported according to the control method proposed by the present invention and arrive at the designated location.

[0078] In the simulation environment, the control system with multiple entrances is compared with the traditional single-entry conveyor belt under the premise of ensuring the same size, transmission speed and transportation path of the goods. The results are as follows: Figure 7 As shown: wherein the horizontal axis is the number of target exits, and the vertical axis is the ratio of the number of packages that can be transported per unit time by the system compared to the traditional conveyor belt. It can be found that under the set environmental background, the transmission system proposed in the present invention can effectively improve the operation efficiency of goods.

[0079] At present, warehouses in the logistics industry have the problem of large floor space and low cargo transportation efficiency, and there is still a lot of room for optimization. In order to make full use of the warehouse space and avoid congestion caused by logistics sorting under peak conditions, the traditional single-entry conveyor belt can be replaced with the four-wheel drive omnidirectional wheel transmission system mentioned in the invention, and packages from different sources can be transported to the transmission platform through multiple entrances, and multiple exits can be set to different destinations. This can effectively improve the cargo sorting efficiency and maximize the utilization of the cargo warehouse.

[0080] The present invention proposes an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of a control method of a transmission system according to the four-omnidirectional wheel drive are implemented.

[0081] The present invention provides a computer-readable storage medium for storing computer instructions, wherein the computer instructions, when executed by a processor, implement the steps of a control method of a transmission system according to the four-omnidirectional wheel drive.

[0082] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DRRAM). It should be noted that the memory of the method described in the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0083] 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 instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0084] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in a processor for execution. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0085] It should be noted that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined and performed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0086] The above is a detailed introduction to a four-wheel drive transmission system and a control method thereof proposed in the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for a transmission system based on four omnidirectional wheels, characterized in that: The main body of the transmission system is a transport platform formed by splicing a plurality of transmission modules, wherein the transmission module comprises a load-bearing plate (1-1) in the shape of a regular quadrilateral, at the center of which there is a mounting hole (1-3), and components consisting of omnidirectional wheels (1-2) and a driving device are fixed in a cross arrangement, the advancing direction of the omnidirectional wheels (1-2) is perpendicular to the edge of the module nearest to it, the axis angles of adjacent omnidirectional wheels (1-2) are 90°, the center points of the four omnidirectional wheels (1-2) are consistent with the center of the load-bearing plate (1-1), the distance between the center point of each omnidirectional wheel (1-2) and the edge of its module is 1 / 2 of the length of the load-bearing plate (1-1), and the transport platform has a certain The transmission system has the advantages of scalability; the driving device is a motor (2-1) with a built-in Hall encoder; the motor (2-1) of each transmission module is uniformly controlled by a single driving board (2-4), and the multiple driving boards (2-4) are uniformly controlled by a distributed edge device at a higher level, and the multiple distributed edge devices are uniformly controlled by a server at a higher level; the transmission system also includes a visual positioning module located above the platform, the visual positioning module is composed of multiple cameras, and there is a certain spacing distance between each camera to ensure that the top view of each package can be accurately identified and the ID can be marked without serious distortion, and the information captured by the camera will be transmitted to the server in real time for target detection and re-identification processing; The control method is specifically as follows: At the beginning, the server side is set according to the existing transmission module size, and the specific location of the goods is determined by the visual positioning module and fed back to the server. After the input and output locations of the goods are determined, the path planning is performed through the A* algorithm to calculate the optimal operation path for a single item; Establish a world coordinate system, and determine the movement direction and linear speed of the omnidirectional wheels contained in the designated conveying module when the goods pass through the designated conveying module through kinematic analysis, thereby obtaining control instructions, which are uniformly issued by the server to each distributed edge device, and then specifically issued by the distributed edge device to the designated drive device; During transportation, the visual positioning module will monitor the position of each cargo in real time. If a cargo is beyond the field of view of the current camera, the visual positioning module will record the cargo ID and relocate the cargo in time. When a faulty module appears in the path, the A* algorithm is used to replan the path and avoid the faulty module. When multiple goods have a path conflict or collision in the same module, the RVO obstacle avoidance algorithm is used to avoid the obstacle. The control method uses YOLO v5s as the detection network for mobile targets; The next direction of the package is obtained in advance at the intersection of multiple cameras, and the time when the package appears in the next camera is predicted based on the movement direction, speed and time of the wheels under the package. When the package appears under the camera within the allowable error range and the target detection size is the same as the original bound package, the same ID can be bound to complete the package re-identification under multiple cameras; the package re-identification under multiple cameras selects the ReID of the video sequence, and its specific operation process is as follows: (1) The next direction of the package is determined by the real-time planned operation trajectory; (2) The encoder provides feedback on the wheel's movement direction, speed and time; (3) Build a model to predict the time when the package will appear on the next camera and bind the ID; (4) Perform anomaly detection when entering the next camera: If a package ID is no longer bound to a package before the package reaches its destination, an anomaly occurs. There are two possibilities: re-identification failure and package path deviation. The anomaly should be reported in a timely manner.

2. The control method according to claim 1, characterized in that: The motor (2-1) is fixed to the bottom surface of the load-bearing plate (1-1) through a support frame, parallel to the edge of the module, each motor (2-1) independently controls the rotation speed and direction of the corresponding omnidirectional wheel (1-2), each omnidirectional wheel (1-2) contacts the package through the slot of the load-bearing plate (1-1), and the conveying module is uniformly fixed to the platform (2-3) at the bottom layer through the bracket (2-2).

3. The control method according to claim 2, characterized in that: The motor (2-1) and the drive board (2-4) are connected via a flat cable, the drive board (2-4) and the distributed edge device are connected via a data cable, and control instructions are issued and fed back between the distributed edge device and the server via a wireless local area network.

4. The control method according to claim 1, characterized in that: The calculation method of the omnidirectional wheel linear speed of each transmission module is as follows: The transport speed of the package is set to V. In this transmission system, there is no rotation of the package, so its angular velocity w is not considered. The axis parallel to the edge of the load-bearing plate is the X-axis, and the axis perpendicular to the X-axis is the Y-axis. The angle between the running direction of the package and the X-axis when passing through the transmission module is set to α. The omnidirectional wheel located at the positive half axis of the Y-axis is omnidirectional wheel a, the omnidirectional wheel at the positive half axis of the X-axis is omnidirectional wheel b, the omnidirectional wheel at the negative half axis of the Y-axis is c, and the omnidirectional wheel at the negative half axis of the X-axis is d; Decomposing the package transportation speed V into the X-axis and Y-axis, we have: Considering that the packages have certain size differences, when the package completely covers the four omnidirectional wheels a, b, c, and d, it is necessary to ensure that the omnidirectional wheels in the same direction run in the same direction and at the same speed to avoid slipping. Therefore, the linear speed V of the four omnidirectional wheels is a ,V b ,V c ,V d as follows:

5. The control method according to claim 1, characterized in that: The specific method of the path planning is: The estimation function of the A* algorithm is as follows: f(n)=g(n)+h(n) Among them, g(n) represents the actual distance from the starting point to any vertex n, and h(n) represents the estimated distance from any vertex n to the target vertex; The RVO obstacle avoidance algorithm combines the current speed of the object and the speed of other individuals to average and let A and B take on the obstacle avoidance task equally. The mathematical expression of the RVO obstacle avoidance algorithm is as follows: in, Indicates speed as V B B is on A's VO.

6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium for storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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