An intelligent transport vehicle control method, device, equipment and medium

Abstract

The application relates to an intelligent transport vehicle control method, device, equipment and medium, which is applied to the technical field of transport vehicle control and comprises the following steps: acquiring two-dimensional data of a transport scene, constructing three-dimensional terrain data based on the two-dimensional data; acquiring the current position coordinates and target position coordinates of a current transport vehicle based on the three-dimensional terrain data; constructing multiple transport routes based on the current position coordinates and target position coordinates, acquiring basic information of the multiple transport routes, and the basic information comprising the number of induction gates required to pass; selecting an optimal route in the multiple transport routes based on the basic information, and sending the optimal route to the current transport vehicle. The application has the effect of facilitating the simultaneous unified scheduling of multiple transport vehicles in a transport scene and improving the convenience of unified scheduling of the transport vehicles.

Description

Technical Field

[0001] This application relates to the technical field of transport vehicle control, and in particular to an intelligent transport vehicle control method, device, equipment and medium. Background Technology

[0002] Common radioactive materials include medical radioisotopes such as fluorine-18 and technetium-99m, radioactive nuclear instruments such as cesium-137 densitometers and americium-241 thickness gauges, flaw detectors containing gamma sources, radioactive waste (sources) generated from nuclear technology utilization, and environmental samples containing radioactive materials collected in emergency response to radiation accidents. To prevent the leakage of radiation from radioactive materials and the release of substances into the environment, which could harm personnel and the environment, the transportation of radioactive materials must comply with specific safety regulations.

[0003] Containers for transporting radioactive materials not only need to shield radiation, but also need to be able to withstand external impacts, maintain structural stability, and prevent radiation leakage caused by structural deformation or damage. They also need to have anti-theft and anti-loss functions. Therefore, containers for transporting radioactive materials need to have good radiation shielding performance, shock absorption performance, and impact resistance, as well as security functions.

[0004] Chinese utility model patent CN218069359U discloses a mobile medical pull-rod type lead container, including a base plate with four casters mounted on its bottom surface. Two support plates are mounted on the upper surface of the base plate, and a connecting rod is rotatably connected to the interior of the two support plates. Two adjusting brackets are mounted on the outer surface of the connecting rod, and an adjusting plate is slidably connected to the interior of each adjusting bracket. When transporting lead containers containing radioactive materials, workers need to manually push the containers, resulting in a lack of unified scheduling of transport vehicles. Summary of the Invention

[0005] To facilitate unified scheduling of transport vehicles, this application provides an intelligent transport vehicle control method, device, equipment, and medium.

[0006] Firstly, this application provides an intelligent transport vehicle control method, which adopts the following technical solution: A method for controlling an intelligent transport vehicle, comprising: Two-dimensional data of the transportation scenario is acquired, and three-dimensional terrain data is constructed based on the two-dimensional data; Based on the three-dimensional terrain data, the current position coordinates and target position coordinates of the current transport vehicle are obtained; Based on the current location coordinates and the target location coordinates, multiple transportation routes are constructed, and basic information of the multiple transportation routes is obtained, including the number of sensor doors that need to be passed; Based on the aforementioned basic information, the optimal route among multiple transportation routes is selected, and the optimal route is sent to the current transportation vehicle.

[0007] By adopting the above technical solution, after the transport vehicle receives the optimal route sent by the electronic device, it automatically transports radioactive materials according to the optimal route, which facilitates the unified scheduling of multiple transport vehicles in the transportation scenario and improves the convenience of unified scheduling of transport vehicles.

[0008] Optionally, after sending the optimal route to the transport vehicle, the method further includes: Receives operational information sent by the current transport vehicle and other transport vehicles, the operational information including coordinate information and operational parameter information, the operational parameter information including operational speed; Obtain the preset time corresponding to the current sensor door; Based on the coordinate information and the preset time, the operating parameters of multiple transport vehicles are adjusted so that multiple transport vehicles can pass through when the current sensor door is open.

[0009] By adopting the above technical solution, the overall transportation efficiency of radioactive materials is improved, the number of times the sensor door is opened and closed is reduced, thereby reducing the possibility of increased transportation time caused by frequent opening and closing of the sensor door.

[0010] Optionally, the operational information further includes radioactivity detection data; after receiving the operational information sent by the current transport vehicle and other transport vehicles, the method further includes: The system receives radioactivity detection data sent by the current transport vehicle in real time and determines whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning. If so, a standby command is sent to the current transport vehicle, and the fault type of the transport vehicle is obtained based on the operation information; Based on the fault type, determine whether the current transport vehicle malfunction caused the radioactivity detection data to exceed the standard; If so, obtain the first position coordinates of the current transport vehicle and obtain the current status information of other transport vehicles in the transport scenario; Based on the current status information, select the optimal alternative transport vehicle and obtain the second position coordinates of the optimal alternative transport vehicle; Using the first location coordinates as the target location and the second location coordinates as the current location coordinates, the step of constructing multiple transportation routes based on the current location coordinates and the target location coordinates is executed.

[0011] By adopting the above technical solutions, the safety of transporting radioactive materials by transport vehicles is improved. In the event of a malfunction of the current transport vehicle, it is easier to dispatch other transport vehicles to continue the transport mission, thus reducing the possibility that radioactive materials cannot be transported.

[0012] Optionally, before determining whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning, the method further includes: Determine whether there are other transport vehicles with excessive radioactivity data in the path of the current transport vehicle within the preset range of the first position coordinates; If so, determine whether the type of radioactive material being transported by the current transport vehicle is the same as that transported by the other transport vehicles; If so, then obtain the third location coordinates of the other transport vehicles, and obtain the environmental information at the third location coordinates; The impact of the data is calculated based on the environmental information, and the radioactivity detection data is corrected based on the impact of the data.

[0013] By adopting the above technical solutions, the accuracy of radioactive detection data has been improved, and the accuracy of determining whether radioactive material has leaked has been improved.

[0014] Optionally, the operation information further includes image information; after receiving the operation information sent by the current transport vehicle and other transport vehicles, it further includes: Obtain current image information after the current transport vehicle arrives within the sensing area of ​​the sensor door; Determine whether the sensor door is open normally based on the current image information; If not, an alarm message is generated and forwarded to other transport vehicles in the transportation scenario; The system predicts the maintenance time required for the sensor door to return to normal operation, and adjusts the optimal route that needs to pass through the sensor door based on the alarm information and the maintenance time.

[0015] By adopting the above technical solutions, the efficiency of transport vehicles has been improved, and the possibility of radioactive materials being unable to be transported normally due to sensor door malfunctions has been reduced.

[0016] Optionally, after sending the optimal route to the current transport vehicle, the method further includes: If the optimal route of the current transport vehicle overlaps with the optimal routes of other transport vehicles, then it is determined whether the current transport vehicle and the other transport vehicles arrive at the overlapping coordinates at the same time. If so, obtain the radioactive material classification information of the different transport vehicles. The order in which the current transport vehicle and other transport vehicles pass through the overlapping coordinates is determined based on the grade information.

[0017] By adopting the above technical solutions, the safety of transport vehicles is improved, and the possibility of collisions between multiple transport vehicles is reduced.

[0018] Optionally, before determining whether the current transport vehicle and the other transport vehicles arrive at the overlapping coordinates at the same time, the method further includes: Determine whether the communication quality with the current transport vehicle and the other transport vehicles meets the standards; If not, then obtain the historical transportation data of the substandard transport vehicles; Based on the historical transportation data, the estimated time for the non-compliant transport vehicle to arrive at the overlapping coordinates is calculated, and the estimated time is used as the time for the non-compliant transport vehicle to arrive at the overlapping coordinates.

[0019] By adopting the above technical solution, the time for non-compliant transport vehicles to reach overlapping coordinates can be estimated based on historical transport data, reducing the possibility that the transport vehicles cannot communicate normally with electronic devices, thus making it impossible to know their operating status.

[0020] Secondly, this application provides an intelligent transport vehicle control device, which adopts the following technical solution: A smart transport vehicle control device includes: A construction module is used to acquire two-dimensional data of the transportation scenario and construct three-dimensional terrain data based on the two-dimensional data; The first acquisition module is used to acquire the current position coordinates and target position coordinates of the current transport vehicle based on the three-dimensional terrain data; The second acquisition module is used to construct multiple transportation routes based on the current location coordinates and the target location coordinates, and to acquire basic information of the multiple transportation routes, including the number of sensor doors that need to be passed; The selection and sending module is used to select the optimal route from multiple transportation routes based on the basic information and send the optimal route to the current transportation vehicle.

[0021] Thirdly, this application provides an electronic device that adopts the following technical solution: An electronic device includes a processor coupled to a memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the computer program of the intelligent transport vehicle control method according to any one of the first aspects.

[0022] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium storing a computer program capable of being loaded by a processor and executing the intelligent transport vehicle control method according to any one of the first aspects. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating an intelligent transport vehicle control method provided in an embodiment of this application.

[0024] Figure 2 This is a structural block diagram of an intelligent transport vehicle control device provided in an embodiment of this application.

[0025] Figure 3 This is a structural block diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0026] The present application will be further described in detail below with reference to the accompanying drawings.

[0027] This application provides an intelligent transport vehicle, which includes a vehicle body, a controller, and a container for transporting radioactive materials. The container for transporting radioactive materials is placed on the vehicle body and is used to store the radioactive materials being transported.

[0028] A drive assembly for moving the vehicle body is installed on the vehicle body. The drive assembly includes a drive motor, which is electrically connected to the controller. A vehicle speed sensor for measuring the speed of the intelligent transport vehicle is also installed on the vehicle body and is electrically connected to the controller. For example, in this embodiment, the vehicle speed sensor is model SE0001.

[0029] A camera for acquiring image information is installed on the vehicle body, and the camera is electrically connected to the controller. A radioactivity detection sensor for acquiring radioactivity detection data of the transported radioactive materials is also installed on the vehicle body, and the radioactivity sensor is electrically connected to the controller. In this embodiment, the controller is wirelessly connected to the electronic equipment.

[0030] This application provides an intelligent transport vehicle control method, which can be executed by an electronic device. The electronic device can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet computer, desktop computer, etc., but is not limited to these.

[0031] Figure 1 This is a flowchart illustrating an intelligent transport vehicle control method provided in an embodiment of this application. Electronic devices are used as the executing entity, such as... Figure 1 As shown, the main process of this method is described below (steps S101 to S104): Step S101: Obtain two-dimensional data of the transportation scenario and construct three-dimensional terrain data based on the two-dimensional data.

[0032] In this embodiment, various image data, vector data, and place name data within the transportation scenario are processed, and then Terra Builder software is used to construct three-dimensional terrain data from the image data and elevation data. Furthermore, the two-dimensional data is updated periodically.

[0033] The electronic device is electrically connected to a display for showing the three-dimensional map corresponding to the three-dimensional terrain data. The basic functions of the display include zooming, rotating, panning, pointing north, zooming in, zooming out, full-page display, roaming, snapshot, distance measurement, area measurement of the three-dimensional map, as well as zooming in, zooming out, panning, and measurement of the two-dimensional map, which facilitates viewing and operation by staff.

[0034] Step S102: Obtain the current position coordinates and target position coordinates of the current transport vehicle based on the three-dimensional terrain data.

[0035] In this embodiment, each transport vehicle is equipped with a GPS module for collecting the vehicle's location coordinates. The GPS module is electrically connected to the electronic equipment. The current location coordinates are the coordinates of the transport vehicle after the radioactive material has been placed, and the target location coordinates are the coordinates of the location where the placed radioactive material needs to be transported. Staff can input the target location coordinates via a display screen.

[0036] Step S103: Construct multiple transportation routes based on the current location coordinates and the target location coordinates, and obtain the basic information of the multiple transportation routes, including the number of sensor doors that need to be passed.

[0037] The transportation scenario includes multiple sensor doors. Basic information includes the number of sensor doors to be passed through, the number of turns, and the number of lifts. The number of turns is the number of times the transport vehicle needs to change direction on the transportation route, and the number of lifts is the number of times the transport vehicle needs to rise to a higher floor and fall to a lower floor on the transportation route.

[0038] Step S104: Select the optimal route from multiple transportation routes based on the basic information, and send the optimal route to the current transportation vehicle.

[0039] In this embodiment, each parameter in the basic information corresponds to a weight information. The basic information of multiple transportation routes is weighted and calculated to obtain the total score of the multiple transportation routes. For example, the weight information corresponding to the number of sensor doors is 0.5, the weight information corresponding to the number of turns is 0.2, and the weight information corresponding to the number of lifts is 0.3. The total score of the basic information = number of sensor doors * 0.5 + number of turns * 0.2 + number of lifts * 0.3.

[0040] The optimal route is selected from the multiple transport routes with the lowest total score of basic information. After receiving the optimal route from the electronic device, the transport vehicle can automatically transport radioactive materials according to the optimal route.

[0041] In this embodiment, since multiple transport vehicles may be involved in transporting radioactive materials in the transportation scenario, in order to improve the overall transportation efficiency of radioactive materials and reduce the number of times the sensor door is opened and closed, thereby reducing the possibility of increased transportation time caused by frequent opening and closing of the sensor door, the following processing is included after step S104: receiving the operation information sent by the current transport vehicle and other transport vehicles, the operation information including coordinate information and operation parameter information, the operation parameter information including the operation speed; obtaining the preset time corresponding to the current sensor door; adjusting the operation parameter information of multiple transport vehicles based on the coordinate information and the preset time, so that multiple transport vehicles can pass through when the current sensor door is open.

[0042] The GPS module in the transport vehicle sends the vehicle's coordinates to the electronic equipment in real time, and the vehicle speed sensor sends the vehicle's speed to the electronic equipment in real time. When the optimal transport routes for different transport vehicles all require passing through the current sensor gate, the distance between the transport vehicle and the current sensor gate is calculated based on the coordinates of the transport vehicle and the current sensor gate. The time required to reach the current sensor gate is calculated based on the distance between the transport vehicle and the current sensor gate and the vehicle's speed.

[0043] When the first transport vehicle arrives at the current sensor door, the current sensor door opens automatically. Each sensor door has a preset time after which it will automatically close after a transport vehicle has passed through. For example, the preset time is 5 minutes, that is, the current sensor door will automatically close after 5 minutes of no transport vehicle passing through.

[0044] The system identifies the transport vehicle with the shortest required time among multiple transport vehicles, meaning that this transport vehicle can arrive at the current sensor door first. It then determines whether any of the other transport vehicles' required times have a difference from the shortest required time that is less than a preset required time. If not, the system increases the speed of the other transport vehicles so that they can arrive at the current sensor door within the preset time. If so, the system selects the transport vehicle with the difference less than the preset time as the transport vehicle with the shortest required time and repeats the step of determining whether any of the other transport vehicles' required times have a difference from the shortest required time that is less than the preset required time.

[0045] In this embodiment, increasing the operating speed of other transport vehicles also includes the following processing: calculating the minimum speed at which other transport vehicles can reach the current sensor door within a preset time; obtaining the maximum safe operating speed corresponding to the transport vehicle; determining whether the minimum speed is less than the maximum safe operating speed; if so, adjusting the operating speed of other transport vehicles based on the minimum speed; if not, adjusting the operating speed of other transport vehicles based on the maximum safe operating speed.

[0046] In this embodiment, to improve the safety of transporting radioactive materials by the transport vehicle, the operation information also includes radioactivity detection data; after receiving the operation information sent by the current transport vehicle and other transport vehicles, the method further includes the following processing: The system receives radioactivity detection data from the current transport vehicle in real time, determines whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning. If so, it sends a standby command to the current transport vehicle and obtains the malfunction type of the transport vehicle based on the operation information. Based on the malfunction type, it determines whether the malfunction of the current transport vehicle caused the radioactivity detection data to exceed the standard. If so, it obtains the first position coordinates of the current transport vehicle and obtains the current status information of other transport vehicles in the transport scenario. Based on the current status information, it selects the optimal replacement transport vehicle and obtains the second position coordinates of the optimal replacement transport vehicle. Using the first position coordinates as the target position and the second position coordinates as the current position coordinates, it executes the steps of constructing multiple transport routes based on the current position coordinates and the target position coordinates.

[0047] If the radiation detection data exceeds the standard, and the current transport vehicle is not malfunctioning, a standby command will be sent to the current transport vehicle. Upon receiving the standby command, the current transport vehicle will cease movement.

[0048] The transport vehicle is also equipped with tilt sensors and sideslip sensors, which are electrically connected to the controller. Operational information also includes tilt and sideslip data.

[0049] In this embodiment, the electronic device stores operating information corresponding to the types of malfunctions of the transport vehicle. The electronic device also stores malfunction types that can cause leakage of radioactive materials. For example, the transport vehicle overturns.

[0050] If the current malfunction of the transport vehicle causes the radiation detection data to exceed the standard, the current transport vehicle cannot continue to perform the transport task, and the current transport vehicle needs to be replaced in order to complete the transport task.

[0051] The transport vehicle is powered by a built-in battery. The current status information includes the transport status of other transport vehicles, the second location coordinates, and the remaining battery power. The second location coordinates are the current location coordinates of other transport vehicles.

[0052] The selection of the optimal alternative transport vehicle based on the current status information also includes the following processing: determining whether the transport status of other transport vehicles is that they are currently performing a transport task; if not, estimating the power consumption based on the second position coordinates and the first position coordinates; calculating the estimated remaining amount based on the remaining power and the estimated power consumption; and selecting the other transport vehicle with the largest estimated remaining amount as the optimal alternative transport vehicle.

[0053] The transportation status includes transport vehicles that have not performed transportation tasks, transport vehicles that are currently performing transportation tasks, and transport vehicles that have completed their transportation tasks and are returning home.

[0054] In this embodiment, to improve the accuracy of radioactivity detection data and the accuracy of determining whether a radioactive material leak has occurred, the following processing is included before determining whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning: Determine if there are other transport vehicles with excessive radioactivity data within the preset range of the first position coordinates of the current transport vehicle; if so, determine if the current transport vehicle is transporting the same type of radioactive material as other transport vehicles; if so, obtain the third position coordinates of other transport vehicles and obtain the environmental information at the third position coordinates; calculate the data impact based on the environmental information, and correct the radioactivity detection data based on the data impact.

[0055] Environmental information includes meteorological information and radioactivity detection data of other transport vehicles at the third location coordinates. Meteorological information includes wind direction and wind speed.

[0056] In this embodiment, the electronic device stores a predictive model for calculating the impact of data based on environmental information. Under windless conditions, considering that the leakage of radioactive gas is continuous, the diffusion of radioactive gas can be regarded as a uniform diffusion in the atmosphere, forming a sphere. Based on the law of conservation of mass and the principle of continuous gas leakage, the predictive model is a model constructed using calculus equations to describe the concentration of radioactive gas at different distances and time periods around the gas leakage source. Under the condition that the wind speed and direction remain constant, based on the Gaussian plume model, the predictive model is a Gaussian model of continuous point source radioactive gas diffusion derived through graphical and mathematical derivation using the tilted plume pattern and probability knowledge.

[0057] The environmental information, the first position coordinates, the third position coordinates, and the radioactivity detection data of other transport vehicles at the third position coordinates are used as inputs to the prediction model. The prediction model outputs the influence quantity and corrects the radioactivity detection data according to the influence quantity. That is, the difference between the radioactivity detection data and the influence quantity is the actual detection data corresponding to the current transport vehicle.

[0058] In this embodiment, the operational information also includes image information. To improve the efficiency of the transport vehicle and reduce the possibility of radioactive materials being unable to be transported normally due to a malfunction of the sensor door, after receiving the operational information sent by the current transport vehicle and other transport vehicles, the following processing is also included: acquiring the current image information after the current transport vehicle arrives at the sensor area of ​​the sensor door; determining whether the sensor door is open normally based on the current image information; if not, generating alarm information and forwarding the alarm information to other transport vehicles in the transport scenario; predicting the maintenance time for the sensor door to return to normal use, and adjusting the optimal route that needs to pass through the sensor door based on the alarm information and the maintenance time.

[0059] The electronic device compares the current image information with the image information of a normally open sensor door to determine whether the sensor door is open correctly. If the sensor door does not open correctly, it may be malfunctioning, and the alarm information can be forwarded to the management terminal of other transport vehicles or staff. The alarm information includes the location coordinates of the sensor door, the current time, and the current image information.

[0060] In this embodiment, when staff arrive at the automatic gate, they can input the gate's fault information through a management terminal. An electronic device receives the fault information from the management terminal and stores the repair time corresponding to different fault information. Based on the fault information, the repair time for the automatic gate is predicted. Since the automatic gate cannot pass normally during the repair time, the optimal route that needs to pass through the automatic gate is adjusted so that the transport vehicle takes an alternative route that does not need to pass through the automatic gate.

[0061] In this embodiment, in order to improve the safety of transport vehicles and reduce the possibility of collisions between multiple transport vehicles, after step S104, the following processing is also included: if the optimal route of the current transport vehicle overlaps with the optimal routes of other transport vehicles, it is determined whether the current transport vehicle and other transport vehicles arrive at the overlapping coordinates at the same time; if so, the level information of the radioactive materials transported by different transport vehicles is obtained; based on the level information, the order in which the current transport vehicle and other transport vehicles pass through the overlapping coordinates is determined.

[0062] In this embodiment, staff can input the radioactive material classification information of the transport vehicle through the display screen. Transport vehicles with higher classification information can pass through the overlapping coordinates first.

[0063] In this embodiment, in order to reduce the possibility that the transport vehicle cannot communicate normally with the electronic device and thus cannot know the operation status, before determining whether the current transport vehicle and other transport vehicles arrive at the overlapping coordinates at the same time, the method further includes: determining whether the communication quality with the current transport vehicle and other transport vehicles meets the standard; if not, obtaining the historical transport data of the non-compliant transport vehicle; calculating the estimated time of the non-compliant transport vehicle arriving at the overlapping coordinates based on the historical transport data, and using the estimated time as the time of the non-compliant transport vehicle arriving at the overlapping coordinates.

[0064] The communication quality between electronic devices and the current transport vehicle and other transport vehicles can be tested using a network quality tester installed on the electronic devices. When the test network speed between the electronic devices and the transport vehicles reaches the standard network speed, the communication quality meets the standard.

[0065] The electronic device stores historical transportation data of different types of radioactive materials transported by different transport vehicles. The historical transportation data includes the operating speed, operating route, and time taken to reach different coordinates on the operating route. Based on the historical transportation data, the time for non-compliant transport vehicles to reach overlapping coordinates is estimated, thereby reducing the possibility that the time for the transport vehicle to reach the overlapping coordinates cannot be known.

[0066] Based on the same technical concept, embodiments of this application provide an intelligent transport vehicle control device, such as... Figure 2 As shown, the intelligent transport vehicle control device 200 mainly includes: The acquisition module 201 is used to acquire two-dimensional data of the transportation scenario and construct three-dimensional terrain data based on the two-dimensional data; The first acquisition module 202 is used to acquire the current position coordinates and target position coordinates of the current transport vehicle based on three-dimensional terrain data; The second acquisition module 203 is used to construct multiple transportation routes based on the current location coordinates and the target location coordinates, and to acquire basic information of the multiple transportation routes, including the number of sensor doors that need to be passed; The selection and sending module 204 is used to select the optimal route from multiple transportation routes based on basic information and send the optimal route to the current transportation vehicle.

[0067] Optionally, after selecting the sending module 204, the following may also be included: The receiving module is used to receive the operation information sent by the current transport vehicle and other transport vehicles. The operation information includes coordinate information and operation parameter information, including the operation speed. The third acquisition module is used to acquire the preset time corresponding to the current sensor door. The adjustment module is used to adjust the operating parameters of multiple transport vehicles based on coordinate information and preset time, so that multiple transport vehicles can pass through when the current sensor door is open.

[0068] Optionally, following the receiving module, the following may also be included: The receiving and judging module is used to receive the radioactivity detection data sent by the current transport vehicle in real time, and judge whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning; if so, it will switch to the sending and obtaining module. The send and receive module is used to send standby instructions to the current transport vehicle and obtain the fault type of the transport vehicle based on the operation information; The first judgment module is used to determine whether the current transport vehicle malfunction caused the radioactivity detection data to exceed the standard; if so, it proceeds to the fourth acquisition module. The fourth acquisition module is used to acquire the first position coordinates of the current transport vehicle and the current status information of other transport vehicles in the transport scenario; The selection module is used to select the optimal alternative transport vehicle based on the current status information and obtain the second position coordinates of the optimal alternative transport vehicle. As a module, it is used to take the first location coordinates as the target location and the second location coordinates as the current location coordinates, and to perform the steps of constructing multiple transportation routes based on the current location coordinates and the target location coordinates.

[0069] Optionally, before the receiving and judgment module, the following may also be included: The second judgment module is used to determine whether there are other transport vehicles with excessive radioactivity data in the path of the current transport vehicle within the preset range of the first position coordinates; if so, it proceeds to the third judgment module. The third judgment module is used to determine whether the type of radioactive material being transported by the current transport vehicle is the same as that transported by other transport vehicles; if so, it proceeds to the fifth acquisition module. The fifth acquisition module is used to acquire the third position coordinates of other transport vehicles and the environmental information at the third position coordinates; The calculation and correction module is used to calculate the data impact based on environmental information and correct the radioactivity detection data based on the data impact.

[0070] Optionally, following the receiving module, the following may also be included: The sixth acquisition module is used to acquire the current image information after the current transport vehicle arrives at the sensing area of ​​the sensor gate; The fourth judgment module is used to determine whether the sensor door is open normally based on the current image information; if not, it will transfer to the generation and forwarding module. The generation and forwarding module is used to generate alarm information and forward the alarm information to other transport vehicles in the transportation scenario; The predictive adjustment module is used to predict the maintenance time required for the sensor door to return to normal operation, and adjusts the optimal route that needs to pass through the sensor door based on alarm information and maintenance time.

[0071] Optionally, after selecting the sending module 204, the following may also be included: The fifth judgment module is used to determine whether the current transport vehicle and other transport vehicles arrive at the overlapping coordinates at the same time when the optimal route of the current transport vehicle overlaps with the optimal route of other transport vehicles; if so, it proceeds to the seventh acquisition module. The seventh acquisition module is used to acquire information on the radioactive material classification of different transport vehicles. The determination module is used to determine the order in which the current transport vehicle and other transport vehicles pass through the overlapping coordinates based on the grade information.

[0072] Optionally, before the fifth judgment module, the following may also be included: The sixth judgment module is used to determine whether the communication quality with the current transport vehicle and other transport vehicles meets the standard; if not, it proceeds to the eighth acquisition module. The eighth acquisition module is used to acquire historical transportation data of substandard transport vehicles; The calculation module is used to calculate the estimated time for non-compliant transport vehicles to arrive at the overlapping coordinates based on historical transport data, and the estimated time is used as the arrival time of the non-compliant transport vehicles at the overlapping coordinates.

[0073] In one example, the module in any of the above devices may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0074] For example, when modules in a device can be implemented via a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling programs. Alternatively, these modules can be integrated together as a system-on-a-chip (SOC).

[0075] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0076] Based on the same technical concept, embodiments of this application also provide an electronic device, such as... Figure 3As shown, the electronic device 300 includes a processor 301 and a memory 302, and may further include one or more of an information input / output (I / O) interface 303, a communication component 304, and a communication bus 305.

[0077] The processor 301 controls the overall operation of the electronic device 300 to complete all or part of the steps of the intelligent transport vehicle control method described above. The memory 302 stores various types of data to support the operation of the electronic device 300. This data may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as one or more of Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0078] I / O interface 303 provides an interface between processor 301 and other interface modules, such as keyboards, mice, and buttons. These buttons can be virtual or physical. Communication component 304 is used for wired or wireless communication between electronic device 300 and other devices. Wireless communication includes Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 104 may include a Wi-Fi component, a Bluetooth component, and an NFC component.

[0079] The electronic device 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the intelligent transport vehicle control method given in the above embodiments.

[0080] The communication bus 305 may include a path for transmitting information between the aforementioned components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0081] Electronic device 300 may include, but is not limited to, mobile terminals such as laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers, and may also be servers.

[0082] Based on the same technical concept, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described intelligent transport vehicle control method.

[0083] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] The terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0085] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. A method for controlling an intelligent transport vehicle, characterized in that, include: Two-dimensional data of the transportation scenario is acquired, and three-dimensional terrain data is constructed based on the two-dimensional data; Based on the three-dimensional terrain data, the current position coordinates and target position coordinates of the current transport vehicle are obtained; Based on the current location coordinates and the target location coordinates, multiple transportation routes are constructed, and basic information of the multiple transportation routes is obtained, including the number of sensor doors that need to be passed; Based on the aforementioned basic information, the optimal route among multiple transportation routes is selected, and the optimal route is sent to the current transportation vehicle; After sending the optimal route to the transport vehicle, the method further includes: Receives operational information sent by the current transport vehicle and other transport vehicles, the operational information including coordinate information and operational parameter information, the operational parameter information including operational speed; Get the preset time corresponding to the current sensor door; Based on the coordinate information and the preset time, the operating parameters of multiple transport vehicles are adjusted so that multiple transport vehicles can pass through when the current sensor door is open; The operational information also includes radioactivity detection data; after receiving the operational information sent by the current transport vehicle and other transport vehicles, the method further includes: The system receives radioactivity detection data sent by the current transport vehicle in real time and determines whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning. If so, a standby command is sent to the current transport vehicle, and the fault type of the transport vehicle is obtained based on the operation information; Based on the fault type, determine whether the current transport vehicle malfunction caused the radioactivity detection data to exceed the standard; If so, obtain the first position coordinates of the current transport vehicle and obtain the current status information of other transport vehicles in the transport scenario; Based on the current status information, select the optimal alternative transport vehicle and obtain the second position coordinates of the optimal alternative transport vehicle; Using the first location coordinates as the target location and the second location coordinates as the current location coordinates, the step of constructing multiple transportation routes based on the current location coordinates and the target location coordinates is executed.

2. The method according to claim 1, characterized in that, Before determining whether the radioactivity detection data exceeds the standard and whether the current transport vehicle is malfunctioning, the method further includes: Determine whether there are other transport vehicles with excessive radioactivity data in the path of the current transport vehicle within the preset range of the first position coordinates; If so, determine whether the type of radioactive material being transported by the current transport vehicle is the same as that transported by the other transport vehicles; If so, then obtain the third location coordinates of the other transport vehicles, and obtain the environmental information at the third location coordinates; The impact of the data is calculated based on the environmental information, and the radioactivity detection data is corrected based on the impact of the data.

3. The method according to claim 1, characterized in that, The operational information also includes image information; after receiving the operational information sent by the current transport vehicle and other transport vehicles, it also includes: Obtain current image information after the current transport vehicle arrives within the sensing area of ​​the sensor door; Determine whether the sensor door is open normally based on the current image information; If not, an alarm message is generated and forwarded to other transport vehicles in the transportation scenario; The system predicts the maintenance time required for the sensor door to return to normal operation, and adjusts the optimal route that needs to pass through the sensor door based on the alarm information and the maintenance time.

4. The method according to claim 1, characterized in that, After sending the optimal route to the current transport vehicle, the method further includes: If the optimal route of the current transport vehicle overlaps with the optimal routes of other transport vehicles, then determine whether the current transport vehicle and the other transport vehicles arrive at the overlapping coordinates at the same time. If so, obtain the radioactive material classification information of the different transport vehicles. The order in which the current transport vehicle and other transport vehicles pass through the overlapping coordinates is determined based on the grade information.

5. The method according to claim 4, characterized in that, Before determining whether the current transport vehicle and the other transport vehicles arrive at the overlapping coordinates at the same time, the method further includes: Determine whether the communication quality with the current transport vehicle and the other transport vehicles meets the standards; If not, then obtain the historical transportation data of the substandard transport vehicles; Based on the historical transportation data, the estimated time for the non-compliant transport vehicle to arrive at the overlapping coordinates is calculated, and the estimated time is used as the time for the non-compliant transport vehicle to arrive at the overlapping coordinates.

6. A smart transport vehicle control device, characterized in that, For implementing the method of claim 1, comprising: A construction module is used to acquire two-dimensional data of the transportation scenario and construct three-dimensional terrain data based on the two-dimensional data; The first acquisition module is used to acquire the current position coordinates and target position coordinates of the current transport vehicle based on the three-dimensional terrain data; The second acquisition module is used to construct multiple transportation routes based on the current location coordinates and the target location coordinates, and to acquire basic information of the multiple transportation routes, including the number of sensor doors that need to be passed; The selection and sending module is used to select the optimal route from multiple transportation routes based on the basic information and send the optimal route to the current transportation vehicle.

7. An electronic device, characterized in that, Includes a processor, which is coupled to a memory; The processor is configured to execute a computer program stored in the memory, causing the electronic device to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It includes a computer program or instructions that, when run on a computer, cause the computer to perform the method as described in any one of claims 1 to 5.

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