Conveying system drive control method, device, computer equipment and storage medium

Abstract

The application relates to a conveying system driving control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring video data of a conveying system, determining a conveying section where a mobile device on the conveying system is located according to the video data; determining the position of the mobile device according to feedback data of a corresponding driver of the conveying section; acquiring processing process information of each processing station; and generating a driving instruction according to the processing process information and the position of the mobile device, the driving instruction being used for controlling the movement of the mobile device between the processing stations. The driving control precision can be improved by using the method.

Description

Technical Field

[0001] This application relates to the field of conveying system control technology, and in particular to a conveying system drive control method, device, computer equipment, storage medium and computer program product. Background Technology

[0002] The magnetic drive conveyor system is a system that uses the interaction between magnetic forces to generate propulsion force to drive the mobile vehicle.

[0003] Existing magnetic drive conveyor systems use a drive to determine the position of the moving trolley and control its movement accordingly. However, this method is problematic when the magnetic drive conveyor system loses power or malfunctions, causing the original trolley numbers to be lost. This necessitates renumbering the trolleys, which can easily lead to conveyor line malfunctions and prevent accurate control of the conveyor system's movement. Summary of the Invention

[0004] Therefore, it is necessary to provide a conveying system drive control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve control accuracy in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a drive control method for a conveying system, comprising:

[0006] Acquire video data from the conveyor system and determine the conveyor section where the mobile equipment on the conveyor system is located based on the video data;

[0007] The location of the mobile device is determined based on the feedback data from the driver corresponding to the transport section;

[0008] Obtain the processing technology information for each processing station;

[0009] Based on the processing technology information and the location of the mobile device, drive commands are generated. These drive commands are used to control the movement of the mobile device between processing stations.

[0010] In one embodiment, determining the transport section where a mobile device is located on the transport system based on video data includes: identifying a first license plate tag to be processed in the video data; determining the location of each first target image acquisition device based on the first license plate tag to be processed, wherein the video data acquired by each first target image acquisition device includes the same first license plate tag to be processed; and determining the transport section where the mobile device is located on the transport system based on the first license plate tag to be processed and the location of each first target image acquisition device.

[0011] In one embodiment, determining the transport section where the mobile device is located on the transport system based on the location information of the first license plate tag to be processed and each first target image acquisition device includes: obtaining the first time when the first license plate tag to be processed appears in each video data; sorting each first target image acquisition device according to the first time; and determining the transport section where the mobile device is located on the transport system based on the location information of the last first target image acquisition device.

[0012] In one embodiment, determining the transport section where the mobile device on the transport system is located based on video data includes: acquiring the current frame video data; identifying a second license plate tag to be processed included in the current frame video data, and determining the current license plate tag to be processed based on the processed license plate tag and the second license plate tag to be processed; when the current license plate tag to be processed exists in the first video data, determining the second time of the current license plate tag to be processed in the first video data; determining a second target image acquisition device based on each second time, wherein the second time of the current license plate tag to be processed in the first video data corresponding to the second target image acquisition device is the latest; determining the transport section where the mobile device corresponding to the current license plate tag to be processed is located on the transport system based on the location information of the second target image acquisition device, and storing the current license plate tag to be processed as a processed license plate tag; when there are still unprocessed video data frames, acquiring the next frame video data as the current frame video data, and continuing to execute the step of identifying the second license plate tag to be processed included in the current frame video data, until all video data frames have been processed.

[0013] In one embodiment, determining the current license plate label to be processed based on the processed license plate label and the second license plate label to be processed includes: determining whether the second license plate label to be processed exists in the processed license plate labels; if the second license plate label to be processed does not exist in the processed license plate labels, the second license plate label to be processed is taken as the current license plate label to be processed.

[0014] In one embodiment, after generating drive instructions based on processing technology information and the position of the mobile device, the conveying system drive control method further includes: determining a first running time of the mobile device between any two processing stations, a second running time of the mobile device at each processing station, the actual position of the mobile device in the processing station, and the difference between the target position and the actual position; and generating alarm information based on any one of the first running event, the second running time, and the difference.

[0015] Secondly, this application also provides a conveying system drive control device, comprising:

[0016] The transport section determination module is used to acquire the collected video data of the transport system and determine the transport section where the mobile device on the transport system is located based on the video data.

[0017] The location determination module is used to determine the location of the mobile device based on feedback data from the driver corresponding to the transport section;

[0018] The process information determination module is used to obtain the processing process information of each processing station;

[0019] The drive module is used to generate drive commands based on the processing technology information and the position of the mobile device. The drive commands are used to control the movement of the mobile device between processing stations.

[0020] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the conveying system drive control method provided in any of the above embodiments.

[0021] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the conveying system drive control method provided in any of the above embodiments.

[0022] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the conveying system drive control method provided in any of the above embodiments.

[0023] The aforementioned conveying system drive control method, device, computer equipment, storage medium, and computer program product utilize video data to determine the conveying section where the mobile device is located on the conveying system. Furthermore, by combining feedback information from the driver corresponding to the conveying section, the position of the mobile device can be further determined, thereby achieving accuracy in determining the position of the mobile device and improving the accuracy of the mobile device drive control. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a structural block diagram of the conveying system in one embodiment;

[0026] Figure 2 This is a flowchart illustrating a conveyor system drive control method in one embodiment;

[0027] Figure 3 This is a flowchart illustrating step S202 of the conveying system drive control method in one embodiment;

[0028] Figure 4 This is a flowchart illustrating step S202 of the conveying system drive control method in another embodiment;

[0029] Figure 5 This is a flowchart illustrating step S202 of the conveyor system drive control method in another embodiment;

[0030] Figure 6 This is a structural block diagram of the drive control device for the conveying system in one embodiment;

[0031] Figure 7 This is an internal structural diagram of a computer device in one embodiment;

[0032] Figure 8 This is a diagram of the internal structure of a computer device in another embodiment. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] This application provides a conveying system, including a controller 001, at least one mobile device 002, at least one driver 003, at least one section of conveying track, and at least one image acquisition device 004.

[0035] The conveying system is used to transport items. Optionally, the conveying system can be a magnetically driven conveying system.

[0036] The conveyor track is used to define the conveying path of the conveying system. Optionally, the conveying path can be divided into at least one conveying segment. Each conveying segment corresponds to at least one driver. Optionally, each conveying segment has a corresponding segment number, and the at least one driver corresponding to each conveying segment has a corresponding driver number.

[0037] The mobile device 002 is used to move along the conveying path, moving the items carried on the mobile device 002 together. Optionally, for a magnetically driven conveying system, the mobile device 002 may include a coil for receiving electromagnetic driving force.

[0038] The driver 003 is used to drive the mobile device 002 to move along the conveying path. Optionally, for a magnetic drive conveying system, the driver 003 can be a coil that is energized to provide electromagnetic driving force. In one embodiment, at least one driver 003 is communicatively connected to a controller 001, and the at least one driver 003 receives control commands sent by the controller 001 to generate electromagnetic driving force according to the control commands to drive the mobile device 002.

[0039] The controller 001 controls the driver 003, causing the driver 003 to drive the corresponding mobile device 002, so that the mobile device 002 moves to the required processing station.

[0040] Optionally, the conveying system includes multiple processing stations, each requiring different workpieces. The conveying system is equipped with multiple movers to transport different workpieces between different processing stations. The workpieces required at each processing station are determined according to the processing technology corresponding to that station.

[0041] An image acquisition device 004 is installed on the conveyor rail and acquires video data from the conveyor system. Optionally, the video data may include movement data of the mobile device 002 on the conveyor system, processing status of each processing station, etc. In one embodiment, the image acquisition device 004 is communicatively connected to a controller 001, and the image acquisition device 004 transmits the acquired video data to the controller 001, which stores the received video data. In another embodiment, the image acquisition device 004 stores the acquired video data locally, and the controller 001 retrieves the video data from the image acquisition device 004 through an established communication link when video data is needed.

[0042] In one embodiment, the mobile device 002 includes a physical tag for distinguishing the mobile device 002. Optionally, the physical tag can be a license plate tag. Optionally, the license plate tag can include background information and number information. In one embodiment, the background information can be blue or other colors, as long as it contrasts with the number information for easy identification, and is not limited thereto. In one embodiment, the number information can include at least one of numbers and letters, and optionally, the number information can include an integer with fewer than 10 digits. In one embodiment, reflective material is added to the number information to create contrast with the background information, thereby enabling clear identification of the number information.

[0043] In one embodiment, after the mobile device 002 is placed on the conveyor track, the controller 001 records the license plate tags included with the mobile device 002 and obtains the serial number. The controller stores the license plate tags and serial numbers of the mobile device 002 in correspondence, so that the corresponding license plate tag can be determined based on the serial number, thereby achieving precise control of the movement of the mobile device 002. By correspondingly setting the license plate tags and serial numbers, even when the magnetic drive conveyor line is powered off, the location of the mobile device can still be determined through the license plate tags, and precise control can be achieved based on the correspondence between the license plate tags and serial numbers, improving the accuracy of drive control.

[0044] In one exemplary embodiment, such as Figure 2 As shown, a drive control method for a conveyor system is provided, which is applied to... Figure 1 Taking controller 001 as an example, the explanation includes the following steps 202 to 208. Wherein:

[0045] Step 202: Obtain video data of the conveying system and determine the conveying section where the mobile device on the conveying system is located based on the video data.

[0046] In one embodiment, the controller 001 can acquire video data from the transmission system according to an acquisition instruction.

[0047] Optionally, the acquisition command can be generated periodically by the controller 001 to acquire the video data of the conveyor system at regular intervals. For example, every hour, the controller 001 generates an acquisition command and acquires the video data of the conveyor system under the instruction of the acquisition command.

[0048] Optionally, the controller 001 can also generate an acquisition command based on the processing technology information fed back from the processing station, and acquire the video data of the conveying system under the instruction of the acquisition command.

[0049] In one embodiment, the video data can be video data of a preset duration, such as 10 seconds of video data. Optionally, the current time can be obtained, and video data of the preset duration can be obtained backwards from the current time, with the time of the last frame of the obtained video data being the current time.

[0050] In one embodiment, after acquiring video data, the controller 001 can parse the video data to extract at least one mobile device 002 included in the video data, and determine the location information of at least one mobile device 002 on the conveying system based on the video data. Optionally, the controller can parse the video data to determine whether it includes physical tags, such as license plates. If physical tags are included, the controller can parse the physical tags to identify the mobile device. After parsing the physical tags, the controller can determine the last time the corresponding mobile device appeared based on the parsed physical tags, and determine the conveying segment where the mobile device is located based on the last time it appeared.

[0051] Optionally, image recognition technology can be used to identify physical tags included in the video data, such as license plate tags in the video data, and the mobile device can be determined based on the identified physical tags. In one embodiment, the image recognition technology includes an edge detection algorithm, a character segmentation algorithm, and a character recognition algorithm. Optionally, the physical tags and characters are detected based on the edge detection algorithm, the characters are segmented using the character segmentation algorithm, and the characters are recognized and decoded using the character recognition algorithm to obtain the physical tags. The obtained physical tags can be used to determine the mobile device. Optionally, other image recognition algorithms can also be used, as long as they can achieve image recognition, and there is no limitation on this.

[0052] Optionally, when there are multiple video data, the last video data that appears on the mobile device can be determined, and the corresponding image acquisition device can be determined based on the determined last video data. The delivery segment where the mobile device is located can be determined based on the location information of the image acquisition device.

[0053] Optionally, when there is only one video data point, the transport segment of the mobile device on the transport system is determined based on the last time the mobile device appeared and the correspondence between the image acquisition device and the transport segment corresponding to the video data. Optionally, the location information of the image acquisition device and the location information of the transport segment can be pre-set and stored.

[0054] Step 204: Determine the location of the mobile device based on the feedback data from the driver corresponding to the transport section.

[0055] In one embodiment, a feedback unit can be provided for each driver to monitor the movement of the mobile device. Optionally, the feedback unit can be a sensor, such as a grating sensor or an infrared sensor. For example, when the feedback unit is an infrared sensor, the position of the mobile device is determined based on the feedback data from the driver corresponding to the transport section, the distance between the driver and the mobile device on the transport section is determined using the infrared sensor, and the position of the mobile device is determined based on the distance.

[0056] In an optional embodiment, when there are multiple drivers corresponding to the transport segment, the distance between each driver and the mobile device can be obtained, the driver with the closest distance can be selected as the reference for determining the location of the mobile device, and the location of the mobile device can be determined based on the determined driver.

[0057] Step 206: Obtain the processing technology information for each processing station.

[0058] Step 208: Generate drive instructions based on the processing technology information and the location of the mobile device.

[0059] Among them, the drive commands are used to control the movement of the mobile device between each processing station.

[0060] Among them, the processing technology information is used to characterize the processing status of the processing station, such as the current processing progress of the processing station and the number of workpieces required.

[0061] In one embodiment, the processing technology information can be obtained by the controller 001 from the acquired video data, or it can be obtained from feedback from the processing station. For example, each processing station is equipped with a monitoring module, which monitors the processing technology information of the processing station and communicates with the controller 001 so that the monitoring module can transmit the processing technology information of the processing station to the controller 001. After receiving the processing technology information, the controller 001 generates drive commands based on the processing technology information.

[0062] In one embodiment, the item carried by the mobile device can be obtained, and a drive command can be generated based on the processing technology information of the processing station, the item carried by the mobile device, and the location of the mobile device. Optionally, the workpiece required for the processing station can be determined based on the processing technology information, the mobile device to be driven can be determined based on the workpiece required for the processing station and the item carried by the mobile device, and then a drive command can be generated based on the location of the device to be driven, for example, selecting the mobile device whose location is closest to the corresponding processing station to generate the drive command.

[0063] In one embodiment, after determining the mobile device to be driven, it is determined whether there are other mobile devices between the mobile device to be driven and the processing station. If so, a driving instruction is generated based on the position of the mobile device to be driven and the positions of the other mobile devices.

[0064] In the above-mentioned conveying system drive control method, video data is used to determine the conveying section where the mobile device is located on the conveying system, and the position of the mobile device can be further determined by combining the feedback information of the driver corresponding to the conveying section, thereby achieving the accuracy of the mobile device position determination and improving the accuracy of the mobile device drive control.

[0065] In one exemplary embodiment, such as Figure 3As shown, step 202, namely the step of determining the transport section where the mobile device on the transport system is located based on video data, includes steps 302 to 306. Wherein:

[0066] Step 302: Identify the first license plate tag to be processed in the video data.

[0067] In one embodiment, video data of each frame can be read and the license plate tag can be extracted from each frame of video data.

[0068] Optionally, the process can begin by extracting the first frame of video data and analyzing whether a license plate tag exists within it. If it does, the license plate tag is extracted to obtain the license plate tag to be processed corresponding to the first frame of video data. Next, the second frame of video data is extracted and analyzed to determine if a license plate tag exists. If it does, the license plate tag is extracted to obtain the license plate tag to be processed corresponding to the second frame of video data. The license plate tag to be processed corresponding to the first frame of video data is then merged with the second frame of video data, and duplicate data is removed. The remaining data is the first license plate tag to be processed. The remaining frames of video data are then read, and license plate tags are parsed from them. These tags are then matched with the first license plate tag to be processed. The mismatched license plate tags are used to update the first license plate tag to be processed, resulting in the updated first license plate tag to be processed. This process of reading the next frame of video data, parsing the video data to obtain license plate tags, and updating the first license plate tag to be processed is repeated until the entire video data has been read and all license plate tags to be processed are obtained.

[0069] Optionally, all frames of video data can be extracted first, and the license plate tags in each frame of video data can be extracted and processed. Then, the license plate tags in all frames of video data can be processed together, and duplicates can be removed to obtain the first license plate tag to be processed.

[0070] In one embodiment, when there are multiple video data sets, each video data set can be processed separately to obtain its corresponding first license plate tag to be processed. Then, the first license plate tags corresponding to the multiple video data sets are further deduplicated to obtain the final license plate tag with processing.

[0071] Step 304: Determine the location of each first target image acquisition device based on the first license plate label to be processed.

[0072] The first target image acquisition device is used to characterize the acquired video data, which includes the same first license plate label to be processed.

[0073] In one embodiment, when there is only one image acquisition device, the image acquisition device is referred to as the first target image acquisition device.

[0074] In one embodiment, when there are multiple image acquisition devices, the image acquisition devices corresponding to the video data of the same first license plate label to be processed can all be acquired, and the acquired multiple image acquisition devices are recorded as the first target image acquisition device.

[0075] Optionally, the image acquisition device can set position information relative to the conveyor track to determine the position information of the mobile device on the conveyor track based on the image acquisition device.

[0076] Optionally, any image acquisition device can be selected as the starting image acquisition device, the location of the starting image acquisition device can be set as the starting point, and other image acquisition devices can be sequentially numbered in the same direction based on the starting image acquisition device. The position information of other image acquisition devices on the conveyor track can be determined based on the distance between other image acquisition devices and the starting image acquisition device.

[0077] In one embodiment, the transport track between two image acquisition devices can be defined as a transport section. Again, starting with the initial image acquisition device, the devices can be sequentially numbered in the same direction. In this case, two image acquisition devices correspond to the same transport section, and the same image acquisition device corresponds to two transport sections. Therefore, one of the two image acquisition devices on the same transport section can be assigned to that transport section, and the other image acquisition device can be assigned to the other transport section corresponding to that other image acquisition device, until all transport sections and image acquisition devices are assigned to each other. For example, a first transport section may have a first image acquisition device and a second image acquisition device. The second image acquisition device corresponds to both the first and second transport sections. The first transport section can be assigned to the first image acquisition device, and the second image acquisition device can be assigned to the second transport section. The image acquisition device at the other end of the second transport section can be assigned to the other transport sections adjacent to the second transport section, and so on, until all image acquisition devices and transport sections are assigned to each other.

[0078] Optionally, the location information can be determined based on the conveyor track. Optionally, any position on the conveyor track can be selected as the starting point, and the image acquisition devices set on the conveyor track can be sequentially arranged in the same direction based on the starting point. The location information of the image acquisition devices can be determined based on the distance between the image acquisition devices and the starting point.

[0079] Alternatively, any position on the conveying track can be selected as the starting point, and the conveying track can be divided into at least one conveying segment in an equal or unequal manner. The at least one conveying segment is then ordered in one direction, and the image acquisition device set on the at least one conveying segment is set up in correspondence with the conveying segment. Thus, the image acquisition device can be determined through the conveying segment, and the conveying segment can also be determined through the image acquisition device.

[0080] Step 306: Determine the transport section where the mobile device is located on the transport system based on the location of the first license plate label to be processed and the location of each first target image acquisition device.

[0081] In one embodiment, when there are multiple video data, the first time when the first license plate tag to be processed appears in each video data can be obtained, the first target image acquisition devices can be sorted according to the first time, and the conveying section where the mobile device on the conveying system is located can be determined according to the location information of the last first target image acquisition device.

[0082] In one embodiment, when there is one image acquisition device and one video data, the last time the first license plate tag to be processed appears in the video data can be obtained, the distance information between the first license plate tag to be processed and the image acquisition device can be determined based on the last time, and the transport section where the license plate tag to be processed is located can be determined based on the distance information.

[0083] In the above-mentioned drive control method for the conveying system, the location of the mobile device is determined by using a physical tag such as a license plate tag. This makes it easy to determine the location of the mobile device. Even if the driver loses power, the location of the mobile device can still be clearly determined, thereby improving the accuracy of drive control.

[0084] In one exemplary embodiment, such as Figure 4 As shown, step 202, namely the step of determining the transport section where the mobile device on the transport system is located based on video data, includes steps 402 to 418. Wherein:

[0085] Step 402: Obtain the current frame video data.

[0086] Optionally, the video data includes the current frame video data and the first video data.

[0087] The current frame video data can be used to represent the video data currently to be processed. The first video data consists of other video data that is not part of the current frame video data.

[0088] Optionally, any one of the video data can be selected as the current frame video data, while the rest can be the first video data.

[0089] Step 404: Identify the second license plate tag to be processed included in the current frame video data, and determine the current license plate tag to be processed based on the processed license plate tag and the second license plate tag to be processed.

[0090] In one embodiment, after determining the current frame video data, the current frame video data is identified, and all license plate tags to be processed are read from it as the second license plate tags to be processed. Optionally, the second license plate tags to be processed can be matched with the processed license plate tags to determine whether the second license plate tag to be processed exists in the processed license plate tags. If the second license plate tag to be processed does not exist in the processed license plate tags, the second license plate tag to be processed is used as the current license plate tag to be processed. If the second license plate tag to be processed exists in the processed license plate tags, then the second license plate tag to be processed is no longer processed.

[0091] Step 406: Determine whether the license plate tag to be processed exists in the first video data. If yes, proceed to step 408; otherwise, proceed to step 414.

[0092] Step 408: Determine the second time of the license plate tag to be processed in the first video data.

[0093] Optionally, license plate tags can be extracted from the first video data, and the extracted license plate tags from the first video data can be matched with the current license plate tags to be processed. When a match is found, the time of the current license plate tags to be processed in the first video data can be determined.

[0094] In one embodiment, when there are multiple first video data sets, the second time corresponding to each first video data set can be obtained.

[0095] In an optional embodiment, when the same license plate tag to be processed appears multiple times in the same first video data, the latest time in which the license plate tag to be processed appears in the first video data can be used as the second time.

[0096] Step 410: Determine the second target image acquisition device based on each second time.

[0097] Among them, the second time of the license plate tag to be processed in the first video data corresponding to the second target image acquisition device is the latest.

[0098] In one embodiment, when there are multiple first video data sets, the times when the second license plate tag to be processed appears in each of the first video data sets can be recorded. The times when the second license plate tag to be processed appears in each of the first video data sets are then sorted, and the image acquisition device corresponding to the latest appearance time of the second license plate tag in the second video data is identified as the second target image acquisition device. It is understood that the video data acquired by the second target image acquisition device may represent the last appearance position of the second license plate tag to be processed. The position of the last appearance time of the second license plate tag to be processed can be determined based on the position information corresponding to the second target image acquisition, in order to drive the mobile device.

[0099] Step 412: Based on the location information of the second target image acquisition device, determine the conveying section where the mobile device corresponding to the license plate tag to be processed is located on the conveying system, and store the license plate tag to be processed as a processed license plate tag.

[0100] Optionally, after acquiring the second target image acquisition device, the corresponding transport section of the second target image acquisition device can be acquired according to the correspondence between the image acquisition device and the transport section, and the acquired transport section can be output as the transport section corresponding to the license plate tag to be processed.

[0101] Optionally, once the transport segment corresponding to the license plate tag to be processed is determined, the license plate tag to be processed is set as a processed license plate tag. In one embodiment, a processed flag and an unprocessed flag can be set to distinguish whether the license plate tag has been processed or not. Unprocessed tags are marked as unprocessed, and when processing is completed, the flag is changed from unprocessed to processed.

[0102] Step 414: Determine if there are still unprocessed video data frames. If yes, proceed to step 416; otherwise, proceed to step 418.

[0103] Step 416: Obtain the next frame of video data as the current frame of video data, and continue to execute step 404.

[0104] In one embodiment, the next frame of video data can be any video data from the first video data.

[0105] In an optional embodiment, the video data can be sorted. During processing, video data can be retrieved from smallest to largest based on the sorting sequence number. For example, if there are 10 video data in total, sorted from 1 to 10, video data number 1 can be retrieved first. After video data number 1 is processed, video data number 2 can be retrieved, and so on, until all video data is processed.

[0106] Step 418: Output the conveying section where the mobile device corresponding to the license plate tag to be processed is located on the conveying system.

[0107] Optionally, the acquired transport segment where the mobile device is located can be output so that the driver can be determined based on the transport segment. The driver can then be used to further determine the location of the mobile device, ensuring the accuracy of the location determination.

[0108] In the above embodiments, by cyclically processing multiple video data, it is possible to ensure that the determined license plate tags are comprehensive and accurate, thereby ensuring the accuracy of the determined transport section and thus ensuring the accuracy of the drive.

[0109] In one exemplary embodiment, such as Figure 5 As shown, step 202, namely the step of determining the transport section where the mobile device on the transport system is located based on video data, includes steps 502 to 528. Wherein:

[0110] Step 502: Obtain the current video data to be processed.

[0111] Step 504: Obtain the current frame video data of the current video data to be processed.

[0112] The current frame video data can be used to represent a specific frame of video data to be processed in the current video data set. Optionally, the current frame video data can be the first frame video data or other frames of video data.

[0113] In one optional embodiment, each frame of video data can be extracted. During processing, the first frame can be used as a starting point, and video data can be read and processed frame by frame. Alternatively, processing can begin with the last frame and proceed forward, frame by frame. Another option is to process any frame first, and then select other frames for further processing.

[0114] Optionally, a "processed" label and an "unprocessed" label can be set. An "unprocessed" label is added to each frame of the extracted video data, and after processing is completed, the "unprocessed" label is changed to a "processed" label to prevent duplicate processing and reduce waste of processing resources.

[0115] Step 506: Identify the second license plate tag to be processed included in the current frame video data, and determine the current license plate tag to be processed based on the processed license plate tag and the second license plate tag to be processed.

[0116] Among them, the processed license plate tags are those extracted from video data, and the time when the license plate tag appears in the video data and the license plate tag of the image acquisition device corresponding to the appearance of the license plate tag in the video data have been determined.

[0117] Optionally, during video processing, processing can begin with the first frame of video data. When the current frame of video data is the first frame of video data, it is determined whether the current frame of video data includes a license plate tag. If it includes a license plate tag, the corresponding license plate tag is extracted from the current frame of video data and used as the second license plate tag to be processed.

[0118] When the current frame of video data is not the first frame, it can be determined whether the current frame contains a license plate tag. If it does, the corresponding license plate tag is extracted and used as the second license plate tag to be processed. Alternatively, already processed license plate tags can be obtained and matched with the obtained second license plate tag to determine whether the second license plate tag to be processed includes the already processed tag. If so, it is removed, and the remaining second license plate tag to be processed is the current license plate tag to be processed.

[0119] Optionally, if the second license plate label to be processed does not exist in the processed license plate labels, the second license plate label to be processed is used as the current license plate label to be processed.

[0120] Step 508: Determine whether the license plate tag to be processed exists in the first video data. If yes, proceed to step 510; otherwise, proceed to step 514.

[0121] The first video data consists of video data other than the video data to be processed.

[0122] Optionally, after obtaining the second license plate tag to be processed in the current frame video data, the license plate tag included in the first video data can be obtained, and the second license plate tag to be processed can be matched with the license plate tag included in the first video data. If they do not match, it means that the second license plate tag to be processed does not exist in the first video data. If they match, it means that the second license plate tag to be processed exists in the first video data.

[0123] Step 510: Determine the second time of the license plate tag to be processed in the first video data.

[0124] Optionally, when the second license plate tag to be processed exists in the first video data, the time when the second license plate tag to be processed appears in the first video is recorded.

[0125] Optionally, when the second license plate tag to be processed appears multiple times in the first video data, the time of each appearance can be recorded, or the time of the last appearance of the second license plate tag to be processed in the first video data can be recorded.

[0126] Step 512: Determine the second target image acquisition device based on each second time.

[0127] Among them, the second time of the license plate tag to be processed in the first video data corresponding to the second target image acquisition device is the latest.

[0128] In one embodiment, when there are multiple first video data sets, the times when the second license plate tag to be processed appears in each of the first video data sets can be recorded. The times when the second license plate tag to be processed appears in each of the first video data sets are then sorted, and the image acquisition device corresponding to the latest appearance time of the second license plate tag in the second video data is identified as the second target image acquisition device. It is understood that the video data acquired by the second target image acquisition device may represent the last appearance position of the second license plate tag to be processed. The position of the last appearance time of the second license plate tag to be processed can be determined based on the position information corresponding to the second target image acquisition, in order to drive the mobile device.

[0129] Step 514: Based on the location information of the second target image acquisition device, determine the conveying section where the mobile device corresponding to the license plate tag to be processed is located on the conveying system, and store the license plate tag to be processed as a processed license plate tag.

[0130] In one embodiment, when the second target image acquisition device is acquired, the transport section can be determined based on the correspondence between the image acquisition device and the transport section, using the location information of the second target image acquisition device, and the corresponding driver can be determined based on the transport section. The location of the mobile device can be determined using the feedback information of the driver.

[0131] Optionally, once the transport section corresponding to the license plate to be processed is determined, the license plate to be processed can be considered to have been processed, and the license plate to be processed can be set as a processed license plate label.

[0132] Step 516: Determine if there are still unprocessed video data frames. If yes, proceed to step 518; otherwise, proceed to step 520.

[0133] Step 518: Obtain the next frame of video data as the current frame of video data, and continue to execute step 504; otherwise, execute step 520.

[0134] Step 520: Store the tags of the video data to be processed as processed video data.

[0135] Step 522: Determine if there is any other unprocessed video data. If yes, proceed to step 524; otherwise, proceed to step 526.

[0136] Step 524: Select any video data from the unprocessed video data as the current video data to be processed, and continue to execute step 502.

[0137] Step 526: Output the conveying section where the mobile device corresponding to the license plate tag to be processed is located on the conveying system.

[0138] In the above embodiments, by analyzing and processing each frame of each video data, the transmission segment is determined. By cyclically processing multiple frames of data from multiple video data, the comprehensiveness and accuracy of the license plate tag determination can be guaranteed, thereby ensuring the accuracy of the transmission segment determination and thus ensuring the accuracy of the drive.

[0139] In an optional embodiment, the conveying system drive control method includes: determining a first running time of the mobile device between any two processing stations, a second running time of the mobile device at each processing station, the actual position of the mobile device at the processing station, and the difference between the target position and the actual running time; and generating alarm information based on any one of the first running event, the second running time, and the difference.

[0140] The target location is used to characterize the location where the mobile device should be at a target time. Optionally, the target location can be derived based on a first running time, a second running time, and the running speed of the mobile device.

[0141] In one embodiment, after generating drive commands based on processing technology information and the position of the mobile device, and using these drive commands to move the mobile device on the conveying system between processing stations, the presence of problems in the conveying system can be determined by detecting the mobile device. For example, the detected content may include, but is not limited to, the moving speed of the mobile device, the first running time of the mobile device between two processing stations, the second running time of the mobile device between each processing station, and / or the difference between the actual position and the target position of the mobile device in the processing station.

[0142] In one embodiment, the first running time of the mobile device between two processing stations, the second running time of the mobile device at each processing station, and the actual position of the mobile device at each processing station can all be determined using video data. Optionally, multiple video data sets can be acquired, license plate tags included in the video data can be read, and the time of the corresponding mobile device at the two processing stations can be determined based on the license plate tags, thus determining the first running time of the mobile device between the two processing stations. Optionally, the time when the corresponding mobile device enters the processing station can be determined based on the license plate tags, and combined with the current time, the second running time of the mobile device at the processing station can be determined. Optionally, the actual position of the mobile device at the processing station can be determined based on video data.

[0143] In one embodiment, the moving speed of the mobile device can be acquired. Upon acquiring the second running time, the target position of the mobile device can be determined based on the second running time and the moving speed. It can then be determined whether there is a difference between the target position and the actual position. If so, it indicates that there is an anomaly at the current processing station. Optionally, the anomaly may include an anomaly in the processing speed of the processing station, an anomaly in the mobile device, etc.

[0144] In an optional embodiment, distance information between two processing stations can be obtained, and the moving speed of a mobile device moving between the two processing stations can be obtained. The actual running time is determined based on the distance information and the moving speed of the mobile device. If the first running time does not match the actual running time, it is considered that there is an anomaly between the two processing stations. Optionally, the anomaly between the two processing stations may include processing abnormalities at the processing stations, or abnormalities in the mobile device moving between the two processing stations.

[0145] In one exemplary embodiment, the moving speed of the mobile device on the processing station can be obtained. Based on the actual position and moving speed of the mobile device, the time taken for the mobile device to move to its actual position is determined. This time is then matched with a second running time. If they do not match, the processing station is considered to have an anomaly. Optionally, the anomaly may include an abnormality in the processing speed of the processing station, an abnormality in the mobile device, etc.

[0146] In one embodiment, an alarm message is generated to remind the operator to investigate when any one of the following is found to be problematic: a first running event, a second running time, or a difference between the actual location and the target location.

[0147] In one embodiment, when an anomaly occurs in the conveying system, all existing anomalies can be acquired to determine the ratio between the anomalies and normal conditions. If the ratio exceeds a preset threshold, the conveying system is considered to have a serious anomaly, and an alarm message can be generated to notify the operator to investigate promptly. Optionally, the preset threshold can be 40%.

[0148] Optionally, different levels of abnormality can be set, with preset thresholds corresponding to different values ​​or numerical ranges. For example, a preset threshold of 10%-20% indicates that the abnormality is considered minor when the ratio is within this range; a preset threshold of 20%-40% indicates that the abnormality is considered moderate when the ratio is within this range; and a preset threshold of 40% indicates that the abnormality is considered severe when the ratio is greater than this value.

[0149] In the above-mentioned conveying system drive control method, the time and location information of the movement of the mobile equipment on the conveying system are processed to determine whether there is any abnormality in the conveying system, so as to realize the automated troubleshooting of conveying system faults.

[0150] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0151] Based on the same inventive concept, this application also provides a conveyor system drive control device for implementing the conveyor system drive control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the conveyor system drive control device provided below can be found in the limitations of the conveyor system drive control method described above, and will not be repeated here.

[0152] In one exemplary embodiment, such as Figure 6 As shown, a conveying system drive control device 600 is provided, including: a conveying section determination module 602, a position determination module 604, a process information determination module 606, and a drive module 608, wherein:

[0153] The transport section determination module 602 is used to acquire video data of the transport system and determine the transport section where the mobile device on the transport system is located based on the video data.

[0154] The position determination module 604 is used to determine the position of the mobile device based on feedback data from the driver corresponding to the transport section.

[0155] The process information determination module 606 is used to obtain the processing process information of each processing station.

[0156] In one embodiment, the drive module 608 is used to generate drive instructions based on the processing technology information and the position of the mobile device. The drive instructions are used to control the mobile device to move between processing stations.

[0157] In one embodiment, the transport section determination module 602 is further configured to identify a first license plate tag to be processed in the video data; determine the location of each first target image acquisition device based on the first license plate tag to be processed, wherein the video data acquired by each first target image acquisition device includes the same first license plate tag to be processed; and determine the transport section where the mobile device is located on the transport system according to the first license plate tag to be processed and the location of each first target image acquisition device.

[0158] In one embodiment, the transport section determination module 602 is further configured to obtain the first time when the first license plate tag to be processed appears in each video data; sort each first target image acquisition device according to the first time; and determine the transport section where the mobile device on the transport system is located according to the location information of the last first target image acquisition device.

[0159] In one embodiment, the transport segment determination module 602 is used to acquire the current frame video data of the video data; identify the second license plate tag to be processed included in the current frame video data, and determine the current license plate tag to be processed based on the processed license plate tag and the second license plate tag to be processed; when the current license plate tag to be processed exists in the first video data, determine the second time of the current license plate tag to be processed in the first video data; determine the second target image acquisition device according to each second time, wherein the second time of the current license plate tag to be processed in the first video data corresponding to the second target image acquisition device is the latest; determine the transport segment where the mobile device corresponding to the current license plate tag to be processed is located on the transport system according to the location information of the second target image acquisition device, and store the current license plate tag to be processed as a processed license plate tag; when there are still unprocessed video data frames, acquire the next frame video data as the current frame video data, and continue to execute the step of identifying the second license plate tag to be processed included in the current frame video data until all video data frames are processed.

[0160] In one embodiment, the transport section determination module 602 is further configured to determine whether the second license plate label to be processed exists in the processed license plate labels; when the second license plate label to be processed does not exist in the processed license plate labels, the second license plate label to be processed is used as the current license plate label to be processed.

[0161] In one embodiment, the conveying system drive control device further includes an alarm module, which is used to determine the first running time of the mobile device between any two processing stations, the second running time of the mobile device at each processing station, the actual position of the mobile device in the processing station, and the difference between the target position and the driving command generated by the mobile device according to the processing technology information and the position of the mobile device; and to generate alarm information based on any one of the first running event, the second running time, and the difference.

[0162] Each module in the aforementioned conveying system control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0163] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a conveyor system drive control method.

[0164] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a delivery system drive control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0165] Those skilled in the art will understand that Figure 7 , Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0166] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0167] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0168] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0169] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0170] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A drive control method for a conveying system, characterized in that, The method includes: Acquire video data of the conveying system, and determine the conveying section where the mobile device on the conveying system is located based on the video data; The location of the mobile device is determined based on the feedback data from the driver corresponding to the transport section; Obtain the processing technology information for each processing station; Based on the processing technology information and the position of the mobile device, a driving command is generated, which is used to control the movement of the mobile device between processing stations; Determining the delivery section where the mobile device on the delivery system is located based on the video data includes: Obtain the current frame video data of the video data; Identify the second license plate tag to be processed included in the current frame video data, and determine the current license plate tag to be processed based on the processed license plate tag and the second license plate tag to be processed; When the license plate tag to be processed exists in the first video data, determine the second time in the first video data where the license plate tag to be processed exists; The second target image acquisition device is determined according to each of the second times, and the second time of the license plate tag to be processed in the first video data corresponding to the second target image acquisition device is the latest. Based on the location information of the second target image acquisition device, the conveying section where the mobile device corresponding to the currently unprocessed license plate tag is located on the conveying system is determined, and the currently unprocessed license plate tag is stored as a processed license plate tag. When there are still unprocessed video data frames, the next frame of video data is obtained as the current frame of video data, and the step of identifying the second license plate tag to be processed included in the current frame of video data continues until all video data frames are processed.

2. The method according to claim 1, characterized in that, Determining the delivery section where the mobile device on the delivery system is located based on the video data includes: Identify the first license plate tag to be processed in the video data; The location of each first target image acquisition device is determined based on the first license plate tag to be processed, and the video data acquired by each first target image acquisition device includes the same first license plate tag to be processed; Based on the location of the first license plate tag to be processed and the location of each first target image acquisition device, the transport section where the mobile device is located on the transport system is determined.

3. The method according to claim 2, characterized in that, The step of determining the transport section where the mobile device on the transport system is located based on the first license plate tag to be processed and the location information of each of the first target image acquisition devices includes: Obtain the first time when the first license plate tag to be processed appears in each of the video data; The first target image acquisition devices are sorted according to the first time. Based on the location information of the last target image acquisition device, the transport section where the mobile device is located on the transport system is determined.

4. The method according to claim 1, characterized in that, The step of determining the current license plate label to be processed based on the processed license plate label and the second license plate label to be processed includes: Determine whether the second license plate tag to be processed exists in the already processed license plate tags; If the second license plate label to be processed does not exist in the processed license plate labels, the second license plate label to be processed is used as the current license plate label to be processed.

5. The method according to any one of claims 1-4, characterized in that, After generating the drive instructions based on the processing technology information and the location of the mobile device, the method further includes: Determine the first running time of the mobile device between any two processing stations, the second running time of the mobile device at each processing station, the actual position of the mobile device at the processing station, and the difference between the target position and the actual position of the mobile device. An alarm message is generated based on any one of the first running time, the second running time, and the difference.

6. A drive control device for a conveying system, characterized in that, The device includes: The transport section determination module is used to acquire video data of the transport system and determine the transport section where the mobile device on the transport system is located based on the video data. The location determination module is used to determine the location of the mobile device based on feedback data from the driver corresponding to the transport section; The process information determination module is used to obtain the processing process information of each processing station; The drive module is used to generate drive instructions based on the processing technology information and the position of the mobile device. The drive instructions are used to control the mobile device to move between processing stations. The transmission section determination module is also used to obtain the current frame video data of the video data; Identify the second license plate tag to be processed included in the current frame video data, and determine the current license plate tag to be processed based on the processed license plate tag and the second license plate tag to be processed; When the license plate tag to be processed exists in the first video data, determine the second time in the first video data where the license plate tag to be processed exists; The second target image acquisition device is determined according to each of the second times, and the second time of the license plate tag to be processed in the first video data corresponding to the second target image acquisition device is the latest. Based on the location information of the second target image acquisition device, the conveying section where the mobile device corresponding to the currently unprocessed license plate tag is located on the conveying system is determined, and the currently unprocessed license plate tag is stored as a processed license plate tag. When there are still unprocessed video data frames, the next frame of video data is obtained as the current frame of video data, and the step of identifying the second license plate tag to be processed included in the current frame of video data continues until all video data frames are processed.

7. The apparatus according to claim 6, characterized in that, The transport section determination module is further configured to identify a first license plate tag to be processed in the video data; determine the location of each first target image acquisition device based on the first license plate tag to be processed, wherein the video data acquired by each first target image acquisition device includes the same first license plate tag to be processed; and determine the transport section where the mobile device is located on the transport system according to the first license plate tag to be processed and the location of each first target image acquisition device.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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