A logistics freight vehicle transportation supervision system and method

Abstract

The present application relates to the field of vehicle supervision technology, and in particular to a logistics freight vehicle transportation supervision system and method. The method includes: when the vehicle performs a transportation task, obtaining the initial position of the vehicle at the starting time; obtaining the first position information of the vehicle in the target time period through the positioning system, and determining the first driving path of the vehicle in the target time period based on the first position information and the starting position; obtaining the speed information of the vehicle in the target time period through the vehicle's speed sensor, and determining the second driving path of the vehicle in the target time period based on the speed information and the starting position; correcting the first driving path according to the second driving path, obtaining the target driving path of the vehicle in the target time period, so as to determine the target position of the vehicle at the current moment, and sending the target position to the supervision server. Through the above technical scheme, the position of the vehicle can be better supervised.

Description

Technical Field

[0001] The present application relates to the field of vehicle supervision technology, and in particular to a logistics freight vehicle transportation supervision system and method. Background Art

[0002] In the field of logistics and transportation, goods are mainly transported by freight vehicles. For example, goods are transported from the production site to the storage site. In order to supervise freight vehicles, the location information of the vehicle can be obtained through the positioning module installed on the vehicle, and the location of the vehicle can be reported to the supervision platform.

[0003] For example, in a Chinese patent application document with publication number CN118278841A, a method for large-scale transportation supervision and early warning based on driving trajectories is provided, including: performing spatiotemporal correlation analysis based on abnormal transportation behavior data to generate spatiotemporal correlation data of abnormal transportation behavior; predicting abnormal driving trajectories based on the spatiotemporal correlation data of abnormal transportation behavior to generate abnormal driving trajectory prediction data; performing vehicle information supervision on normal trajectory segments to generate normal trajectory vehicle driving supervision data; performing vehicle early warning based on abnormal trajectory segments to generate abnormal trajectory vehicle driving early warning data; integrating normal trajectory vehicle driving supervision data and abnormal trajectory vehicle driving early warning data to generate a driving trajectory supervision and early warning framework; using abnormal driving trajectory prediction data to supervise and push early warnings to the driving trajectory supervision and early warning framework to perform large-scale transportation supervision and early warning operations on the driving trajectory.

[0004] In the related art, the vehicle is mainly supervised by its driving trajectory. However, the vehicle's positioning system may have difficulty in obtaining the vehicle's accurate position when acquiring the vehicle's position. For example, the positioning result of the vehicle may be biased, making it difficult to effectively supervise the vehicle. Summary of the invention

[0005] In order to overcome the problem in related technologies that it is difficult to effectively monitor the location of vehicles, the present application provides a logistics freight vehicle transportation monitoring system and method.

[0006] According to a first aspect of an embodiment of the present application, a method for supervising the transportation of logistics freight vehicles is provided, including: when the vehicle is performing a transportation task, obtaining the initial position of the vehicle at the starting time; obtaining the first position information of the vehicle in a target time period through a positioning system, and determining the first driving path of the vehicle in the target time period based on the first position information and the starting position; the target time period is the time period between the starting time and the current time; obtaining the speed information of the vehicle in the target time period through a speed sensor of the vehicle, and determining the second driving path of the vehicle in the target time period based on the speed information and the starting position; correcting the first driving path based on the second driving path to obtain the target driving path of the vehicle in the target time period; determining the target position of the vehicle at the current time based on the target driving path and the initial position, and sending the target position to a supervision server.

[0007] In this way, when the vehicle is performing a transportation task, the first driving path of the vehicle within the target time period is determined according to the position information obtained by the vehicle's positioning system, and the second driving path of the vehicle within the target time period is determined according to the speed information obtained by the vehicle's speed sensor. The first driving path can be combined with the second driving path to obtain a target driving path that is more consistent with the actual driving trajectory of the vehicle within the target time period, thereby obtaining a more accurate position of the vehicle, which can help the supervision server to better realize supervision of the vehicle.

[0008] Optionally, the first driving path is corrected according to the second driving path to obtain the target driving path of the vehicle within the target time period, including: matching the position points in the first driving path and the second driving path corresponding to the same time, and determining the evaluation value of the position point in the first driving path; the evaluation value is used to characterize the degree of matching between the position point in the first driving path and the position point in the second driving path corresponding to the same time; for the first position point in the first driving path whose evaluation value is less than or equal to the first preset evaluation threshold, the midpoint of the line formed by the first position point and the position point in the second driving path corresponding to the same time is used as the second position point after the first position point is corrected; the position point in the first driving path whose evaluation value is greater than the first preset evaluation threshold is connected with multiple second position points in chronological order to obtain the target driving path of the vehicle within the target time period.

[0009] Optionally, the first driving path is corrected according to the second driving path to obtain the target driving path of the vehicle within the target time period, including: matching the second driving path and the first driving path with position points to determine the matched target position points, where the target position points are the position points in the second driving path that do not match the first driving path; using the shortest path algorithm to determine a third driving path that passes through all target position points in the second driving path; and obtaining the target driving path of the vehicle within the target time period based on the third driving path and the second driving path.

[0010] Optionally, a target driving path of the vehicle within a target time period is obtained based on the third driving path and the second driving path, including: determining a fourth driving path in the second driving path corresponding to the third driving path; and replacing the fourth driving path in the second driving path with the third driving path to obtain the target driving path of the vehicle within the target time period.

[0011] Optionally, a first driving path of the vehicle in the target time period is determined based on the first position information and the starting position, including: determining the position points of the vehicle at different times within the target time period based on the first position information of the vehicle in the target time period; taking the starting position as the starting point, connecting the position points of the vehicle at different times within the target time period in sequence to obtain the first driving path of the vehicle within the target time period.

[0012] Optionally, the speed information includes driving direction information and driving speed information; based on the speed information and the starting position, determining a second driving path of the vehicle within the target time period, including: for a target moment within the target time period, determining a sub-driving path of the vehicle in a target sub-time period based on the driving speed information and driving direction information of the vehicle at the target moment, the target sub-time period being the time period within which the target moment and the moment before the target moment are located; connecting multiple sub-driving paths corresponding to multiple target sub-time periods in the target time period end to end in chronological order to obtain the second driving path of the vehicle within the target time period.

[0013] In this way, the speed information obtained by the vehicle's speed sensor within the target time period can generate a second driving path of the vehicle within the target time period, so that the second driving path can be used as a reference to determine a more accurate actual driving path of the vehicle within the target time period.

[0014] Optionally, the method also includes: obtaining a fluctuation value of the absolute value of the acceleration of the vehicle within a preset time period before the current moment; when the fluctuation value is greater than a preset fluctuation threshold, sending a prompt message to the supervision server, wherein the prompt message is used to prompt that the fluctuation value is greater than the preset fluctuation threshold.

[0015] In this way, when the fluctuation value is greater than the preset fluctuation threshold, it means that the vehicle's acceleration has a large fluctuation, and the large fluctuation may pose a threat to the cargo loaded on the vehicle. In order to enable the supervision server to know the situation of the vehicle during driving in a timely manner, a prompt message can be sent to the supervision server to prompt the supervision server that the fluctuation value of the vehicle at the current moment is greater than the preset fluctuation threshold.

[0016] Optionally, the method further includes: when the target location is the designated location of the transport task, in response to receiving a control instruction for the container lock on the vehicle, controlling the container lock to switch the switch state; generating switch state switching information according to the time when the container lock switches the switch state and the target location, and sending the switch state switching information to the supervision server.

[0017] In this way, by sending the switch state switching information to the supervision server, the supervision server can be informed in time of the time when the container lock switches the switch state and the position where the switch state is switched; at the same time, the switch state of the container lock is switched when the target position is the specified position of the transportation task, so it can be ensured that the container lock switches the switch state at the specified position of the transportation task.

[0018] Optionally, the designated location of the transport task includes a designated unloading position. When the target position is the designated unloading position of the transport task, in response to receiving a control instruction for the container lock on the vehicle, the container lock is controlled to switch the switch state, including: when the target position is the designated unloading position of the transport task, in response to receiving a control instruction for the container lock on the vehicle, the switch state of the container lock is controlled to switch to an unlocked state; when the indication information sent by the target terminal is received, the switch state of the container lock is controlled to switch to a locked state, and the indication information is used to indicate that the unloading of the vehicle container has been completed.

[0019] In this way, the container lock can be controlled to be unlocked when the vehicle arrives at the designated unloading location, which is convenient for the mobile mechanism to move the container loaded on the vehicle, and the container lock can be controlled to be locked when the unloading of the container is completed, so as to facilitate the next loading of the container.

[0020] According to the second aspect of an embodiment of the present application, a logistics freight vehicle transport supervision system is provided, comprising: a processor and a memory, the memory storing computer program instructions, and the computer program instructions, when executed by the processor, implement the steps of the logistics freight vehicle transport supervision method provided in the first aspect of the present application.

[0021] The technical solution provided by the embodiments of the present application may include the following beneficial effects: when a vehicle is performing a transportation task, the first driving path of the vehicle within a target time period is determined based on the position information obtained by the vehicle's positioning system, and the second driving path of the vehicle within the target time period is determined based on the speed information obtained by the vehicle's speed sensor. The first driving path can be combined with the second driving path, and a target driving path that is more consistent with the actual driving trajectory of the vehicle within the target time period can be obtained, thereby obtaining a more accurate position of the vehicle, which can help the supervision server to better realize supervision of the vehicle.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0024] Figure 1 is a flow chart of a method for supervising the transportation of logistics freight vehicles according to an exemplary embodiment;

[0025] Figure 2 It is a structural diagram of a logistics freight vehicle transportation supervision system according to an exemplary embodiment. DETAILED DESCRIPTION

[0026] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0027] First, a brief introduction is given to the application scenario of the embodiment of the present application. In the application scenario of the present application, logistics freight vehicles can realize the flow of goods from the departure point to the transportation point. The vehicle can be positioned through a positioning system, and the location of the vehicle can be used as the location of the goods to realize the supervision of the goods.

[0028] For example, the vehicle location information can be obtained through positioning systems such as GPS (Global Positioning System), Beidou navigation system and GLONASS navigation system.

[0029] However, when transporting goods, freight vehicles may need to travel to areas with weaker signals. For example, the navigation signal inside a logistics park may be poor, making it difficult to accurately obtain the vehicle's location; or when the vehicle is moving inside a building, the positioning system may mistakenly believe that the vehicle is not moving; or, the vehicle's positioning system may malfunction, resulting in the loss of the vehicle's location information, making it difficult to achieve effective supervision of logistics freight vehicles.

[0030] In response to the above technical problems, the embodiments of the present application provide a logistics freight vehicle transportation supervision system and method. When the vehicle is performing a transportation task, the first driving path of the vehicle within the target time period is determined according to the position information obtained by the vehicle's positioning system, and the second driving path of the vehicle within the target time period is determined according to the speed information obtained by the vehicle's speed sensor. The first driving path can be combined with the second driving path to obtain a target driving path that is more consistent with the actual driving trajectory of the vehicle within the target time period, thereby obtaining a more accurate position of the vehicle, which can help the supervision server to better realize the supervision of the vehicle.

[0031] Figure 1 is a flow chart of a method for supervising the transportation of a logistics freight vehicle according to an exemplary embodiment. The method provided in the embodiment of the present application can be applied to a logistics freight vehicle, such as Figure 1 As shown, the method includes the following steps.

[0032] In step S101, when a vehicle performs a transportation task, an initial position of the vehicle at a starting time is obtained.

[0033] The transportation task may be a task of transporting goods. For example, the transportation task may be a task of transporting goods within a logistics park. Alternatively, the transportation task may be a task of transporting goods across cities or provinces.

[0034] A container may be provided on the vehicle, and the container may be locked or unlocked by a container lock; wherein, when the container lock is in a locked state, the locking mechanism of the container lock may be controlled to lock the door of the container to prevent the container loaded on the vehicle from falling off the vehicle.

[0035] On the contrary, when the container lock is in the unlocked state, the locking mechanism of the container can be controlled to release the lock of the container door so that the moving mechanism can unload the container from the vehicle; the moving mechanism can be a robot with a mechanical arm or other equipment capable of moving the container.

[0036] The vehicle's transportation task may include a designated loading point and a designated unloading point. The same transportation task may include one loading point and one designated unloading point, or may include multiple loading points and multiple unloading points, so that the vehicle can realize the flow of goods between the unloading point and the loading point.

[0037] The starting position in the embodiment of the present application may refer to the position of the vehicle during the last unloading or loading. For example, when the transportation task includes a loading point and a unloading point, the starting position may refer to the position of the loading point; correspondingly, the starting time may refer to the time when the vehicle arrives at the loading point.

[0038] By obtaining the initial position of the vehicle at the starting time, it is convenient to subsequently determine the driving path of the vehicle, and determine the position of the vehicle at the current time when the driving path of the vehicle is determined.

[0039] In step S102, first position information of the vehicle in the target time period is acquired through a positioning system, and a first driving path of the vehicle in the target time period is determined based on the first position information and a starting position.

[0040] The target time period is the time period between the start time and the current time. For example, if the vehicle arrives at the loading point at 08:00:00 and the current time is 09:00:00, then the time period from 08:00:00 to 09:00:00 is the target time period.

[0041] The positioning system can be a positioning system such as the Beidou navigation system and the GPS navigation system. The vehicle's location information can be obtained through the positioning system. The spatial position of the vehicle may be different during the target time period. Based on the first position information of the vehicle during the target time period, the first driving path of the vehicle starting from the starting position during the target time period can be determined.

[0042] In one embodiment, a first driving path of a vehicle in a target time period is determined based on the first position information and the starting position, including: determining the position points of the vehicle at different times within the target time period based on the first position information of the vehicle in the target time period; taking the starting position as the starting point, connecting the position points of the vehicle at different times within the target time period in sequence to obtain the first driving path of the vehicle within the target time period.

[0043] For example, the starting position of the vehicle is P1. According to the first position information of the vehicle within the target time period, the vehicle passes through position points P2, P3, P4, P5 and P6 in sequence within the target time period. P1, P2, P3, P4, P5 and P6 can be connected in sequence to obtain the first driving path of the vehicle within the target time period.

[0044] In this way, based on the vehicle's starting position and the location points passed by the vehicle within the target time period, the vehicle's first driving path within the target time period can be determined. The first driving path is determined based on the position information obtained by the positioning system, which helps to determine a more accurate driving path for the vehicle.

[0045] In step S103, the speed information of the vehicle within the target time period is obtained through the speed sensor of the vehicle, and the second driving path of the vehicle within the target time period is determined according to the speed information and the starting position.

[0046] The speed sensor installed on the vehicle can be used to obtain the vehicle's speed information. For example, the speed information may include driving direction information and driving speed information. The vehicle's speed sensor may be an electromagnetic induction speed sensor, a Hall effect speed sensor, a photoelectric speed sensor or other speed sensors.

[0047] In a possible implementation, the acceleration information of the vehicle can also be collected by using one or more acceleration sensors provided on the vehicle; the acceleration information may include acceleration direction information and acceleration magnitude information, and the change in the vehicle's driving speed or driving direction can be determined through the acceleration information of the vehicle at adjacent moments.

[0048] In order to obtain more accurate speed information of the vehicle, the acceleration information of the vehicle can also be combined with the speed information to calibrate the acceleration information to the speed information, so as to obtain more accurate speed information and avoid the inaccurate measurement that may exist in a single type of sensor.

[0049] In one embodiment, the speed information includes driving direction information and driving speed information; determining a second driving path of the vehicle within a target time period based on the speed information and the starting position, including: for a target moment within the target time period, determining a sub-driving path of the vehicle in a target sub-time period based on the driving speed information and driving direction information of the vehicle at the target moment, the target sub-time period being a time period within which the target moment and a moment before the target moment are located; connecting multiple sub-driving paths corresponding to multiple target sub-time periods in the target time period end to end in chronological order to obtain the second driving path of the vehicle within the target time period.

[0050] The target time period may include multiple target sub-time periods. The target sub-time period may be, for example, a time period whose duration is equal to a preset duration. The preset duration is less than the duration of the target time period. The preset duration may be, for example, between 0.1 seconds and 1 second.

[0051] Based on the vehicle's driving speed information and driving direction information, the vehicle's driving distance and driving direction between adjacent moments can be determined. For example, when the vehicle is traveling along a horizontal plane, the vehicle's driving distance and driving direction within the target sub-time period can be determined.

[0052] To generate a sub-driving path for the vehicle within a target sub-time period, the end position of the sub-driving path corresponding to the previous target sub-time period in the target time period can be connected with the start position of the sub-driving path corresponding to the next target sub-time period in the target time period, so as to achieve the splicing of the sub-driving paths adjacent in time, so as to obtain the second driving path of the vehicle within the target time period.

[0053] In this way, the speed information obtained by the vehicle's speed sensor within the target time period can generate a second driving path of the vehicle within the target time period, so that the second driving path can be used as a reference to determine a more accurate actual driving path of the vehicle within the target time period.

[0054] In step S104, the first driving path is corrected according to the second driving path to obtain a target driving path of the vehicle within a target time period.

[0055] The location information obtained by the vehicle's positioning system may be affected by the signal strength at the vehicle's location. When the signal strength at the vehicle's location is poor, it may be difficult to obtain more accurate location information of the vehicle through the vehicle's positioning system. For example, when the vehicle is inside a closed warehouse, positioning deviations may occur.

[0056] The second driving path is determined based on the speed of the vehicle. When the vehicle's positioning system is unable to accurately obtain the vehicle's position information, the second driving path can better reflect the vehicle's actual driving path than the first driving path. Therefore, by using the second driving path to correct the first driving path, a target driving path that better reflects the vehicle's actual driving path can be obtained.

[0057] In one embodiment, the first driving path is corrected according to the second driving path to obtain a target driving path of the vehicle within a target time period, including: matching position points corresponding to the same time in the first driving path and the second driving path to determine an evaluation value of the position point in the first driving path; the evaluation value is used to characterize the degree of matching between the position point in the first driving path and the position point in the second driving path corresponding to the same time; for a first position point in the first driving path whose evaluation value is less than or equal to a first preset evaluation threshold, the midpoint of the line formed by the first position point and the position point in the second driving path corresponding to the same time is used as the second position point after the first position point is corrected; and the position point in the first driving path whose evaluation value is greater than the first preset evaluation threshold is connected with multiple second position points in chronological order to obtain the target driving path of the vehicle within the target time period.

[0058] For example, in the first driving path, the vehicle passes through six positions T1, T2, T3, T4, T5 and T6 at different times within the target time period, and in the second driving path, the vehicle passes through six positions M1, M2, M3, M4, M5 and M6 at different times within the target time period, and T1 in the first driving path and M1 in the second driving path correspond to the same time;

[0059] Among them, since the vehicle may not move during the target time period, some or all of the position points in T1, T2, T3, T4, T5 and T6 may correspond to the same position in the world coordinate system; or, T1, T2, T3, T4, T5 and T6 may correspond to different positions in the world coordinate system.

[0060] Some or all of the position points in M1, M2, M3, M4, M5 and M6 may correspond to the same position in the world coordinate system; or, M1, M2, M3, M4, M5 and M6 may correspond to different positions in the world coordinate system.

[0061] The evaluation value of a position point in the first driving path can be determined based on the distance between the position point and the corresponding position point in the second driving distance. For example, the evaluation value of position point T1 in the first driving path can be determined based on the distance between position point T1 and position point M1.

[0062] The greater the distance between position point T1 and position point M1, the lower the matching degree between position point T1 and position point M1; on the contrary, the smaller the distance between position point T1 and position point M1, the higher the matching degree between position point T1 and position point M1.

[0063] For example, the normalized result of the inverse of the distance between a position point in the first driving path and a position point in the second driving path corresponding to the same time can be used as the evaluation value of the position point in the first driving path, so as to characterize the degree of matching between the position point in the first driving path and the position point in the second driving path corresponding to the same time through the evaluation value.

[0064] The first position points in the first driving path whose evaluation values ​​are less than or equal to the first preset evaluation threshold value indicate that the degree of matching between these first position points and the position points in the second driving path at the same time is low, and there is a high probability that these first position points have positioning deviations. In order to better reflect the actual driving trajectory of the vehicle, the midpoint of the line formed by the first position point and the position point in the second driving path at the same time can be used as the second position point after the first position point is corrected.

[0065] For example, when the evaluation value of the position point T1 in the first driving path is less than or equal to the first preset evaluation threshold, the midpoint of the line connecting the position point T1 and the position point M1 may be used as the position point after the position point T1 is corrected.

[0066] In one possible implementation, for a first position point in a first driving path, when the evaluation value of the first position point is less than or equal to a second preset evaluation threshold, the position point of the first position point corresponding to the same time in the second driving path can be used as a second position point after the first position point is corrected; wherein the second preset evaluation threshold is less than the first preset evaluation threshold.

[0067] Here, since the second preset evaluation threshold is less than the first preset evaluation threshold, when the evaluation value of the first position point is less than or equal to the second preset evaluation threshold, the degree of match between the first position point and the position point corresponding to the same time in the second driving path is lower, and the first position point may have a large deviation from the actual position of the vehicle. The second driving trajectory is determined based on the vehicle speed. In order to avoid the adverse effect of the first position point on the determination of the vehicle's running trajectory, the first position point corresponding to the same time in the second driving path can be used as the second position point after the first position point is corrected.

[0068] In one embodiment, the first driving path is corrected according to the second driving path to obtain the target driving path of the vehicle within the target time period, including: matching the second driving path and the first driving path with position points to determine the matched target position points, where the target position points are the position points in the second driving path that do not match the first driving path; using the shortest path algorithm to determine a third driving path that passes through all the target position points in the second driving path; and obtaining the target driving path of the vehicle within the target time period based on the third driving path and the second driving path.

[0069] For example, there may be an overlapping portion of the path between the first driving path and the second driving path. In the overlapping portion of the path, the positioning result of the positioning system is consistent with the positioning result based on the speed; in another portion of the path that does not overlap between the first driving path and the second driving path, the positioning result of the positioning system is inconsistent with the positioning result based on the speed. This non-overlapping portion of the path can be processed to obtain a target driving path that is more consistent with the actual driving path of the vehicle.

[0070] The target position points in the second driving path may be discontinuous with each other, making it difficult to form a complete path in the second driving path. These discontinuous target position points may be caused by poor signals from the vehicle's positioning system. In order to obtain a target driving path that can better reflect the actual driving conditions of the vehicle, the shortest path algorithm can be used to determine a third driving path that passes through all the target position points in the second driving path.

[0071] The shortest path algorithm may be, for example, a Dijkstra algorithm, a Bellman-Ford algorithm, a Floyd-Warshall algorithm, an A* search algorithm or the like. The embodiment of the present application does not impose any limitation on the shortest path algorithm adopted.

[0072] In one embodiment, a target driving path of the vehicle within a target time period is obtained based on the third driving path and the second driving path, including: determining a fourth driving path in the second driving path corresponding to the third driving path; and replacing the fourth driving path in the second driving path with the third driving path to obtain the target driving path of the vehicle within the target time period.

[0073] For example, the first driving path may include six position points, namely T1, T2, T3, T4, T5 and T6, and the second driving path may include six position points, namely M1, M2, M3, M4, M5 and M6, wherein the position point T1 is the same as the position point M1, the position point T2 is the same as the position point M2, and the position point T3 is different from the position point M3; the position point T4 is different from the position point M4, the position point T5 is the same as the position point M5, and the position point T6 is different from the position point M6.

[0074] The shortest third driving path passing through the position points M3, M4 and M6 can be determined, and the path formed by the position points M3, M4, M5 and M6 is the fourth driving path. The third driving path can be used to replace the fourth driving path in the second driving path to obtain the target driving path of the vehicle within the target time period.

[0075] In step S105, the target position of the vehicle at the current moment is determined according to the target driving path and the initial position, and the target position is sent to the supervision server.

[0076] For example, logistics freight vehicles can use on-board terminals such as T-BOX (Telematics-BOX, vehicle network control unit) to achieve communication between vehicles and servers, and the supervision server is used to supervise logistics freight vehicles.

[0077] When the target driving path is determined, the end point after passing the target driving path starting from the initial position can be used as the target position of the vehicle at the current moment. By sending the target position to the supervision server, the supervision server can supervise the position of the vehicle.

[0078] Through the logistics freight vehicle transportation supervision method provided in the embodiment of the present application, when the vehicle is performing a transportation task, the first driving path of the vehicle within the target time period is determined according to the position information obtained by the vehicle's positioning system, and the second driving path of the vehicle within the target time period is determined according to the speed information obtained by the vehicle's speed sensor. The first driving path can be combined with the second driving path, and a target driving path that is more consistent with the actual driving trajectory of the vehicle within the target time period can be obtained, thereby obtaining a more accurate position of the vehicle, which can help the supervision server to better realize the supervision of the vehicle.

[0079] In one embodiment, the fluctuation value of the absolute value of the acceleration of the vehicle within a preset time period before the current moment can also be obtained; when the fluctuation value is greater than the preset fluctuation threshold, a prompt message is sent to the supervision server, and the prompt message is used to prompt that the fluctuation value is greater than the preset fluctuation threshold.

[0080] When the fluctuation value is greater than the preset fluctuation threshold, it means that the acceleration of the vehicle has a large fluctuation. The large fluctuation may pose a threat to the cargo loaded on the vehicle. For example, it may destroy the stacking state of the cargo. In order to enable the supervision server to know the situation of the vehicle during driving in time, a prompt message can be sent to the supervision server to prompt the supervision server that the fluctuation value of the vehicle at the current moment is greater than the preset fluctuation threshold.

[0081] The preset fluctuation threshold may be determined according to the value range of the fluctuation value. For example, when the value range of the fluctuation value is between 0 and 1, the preset fluctuation threshold may be set between 0.5 and 0.75.

[0082] For example, the fluctuation value of the absolute value of the acceleration of the vehicle within a preset time period before the current moment can be obtained in the following way: , where G represents the fluctuation value of the absolute value of the vehicle's acceleration in the preset time period before the current moment, W represents the length of the preset time period before the current moment, R represents the driving distance of the vehicle in the adjacent time period at the current moment, and C j represents the driving distance of the vehicle in the adjacent time period at the jth moment within the preset time period, N represents the absolute value of the vehicle's acceleration at the current moment, and D j It represents the absolute value of the vehicle's acceleration at the jth moment in the preset time period before the current moment, norm is the normalization function, Indicates taking the absolute value.

[0083] In one embodiment, when the target location is the designated location of the transport task, in response to receiving a control instruction for the container lock on the vehicle, the container lock is controlled to switch the switch state; according to the time when the container lock switches the switch state and the target location, switch state switching information is generated, and the switch state switching information is sent to the supervision server.

[0084] In this way, by sending the switch state switching information to the supervision server, the supervision server can be informed in time of the time when the container lock switches the switch state and the position where the switch state is switched; at the same time, the switch state of the container lock is switched when the target position is the specified position of the transportation task, so it can be ensured that the container lock switches the switch state at the specified position of the transportation task.

[0085] In one embodiment, the designated location of the transport task includes a designated unloading position. When the target location is the designated unloading position of the transport task, in response to receiving a control instruction for the container lock on the vehicle, the container lock is controlled to switch the switch state, including: when the target location is the designated unloading position of the transport task, in response to receiving a control instruction for the container lock on the vehicle, the switch state of the container lock is controlled to switch to an unlocked state; when receiving an indication information sent by the target terminal, the switch state of the container lock is controlled to switch to a locked state, and the indication information is used to indicate that the unloading of the vehicle container has been completed.

[0086] In this way, the container lock can be controlled to be unlocked when the vehicle arrives at the designated unloading location, which is convenient for the mobile mechanism to move the container loaded on the vehicle, and the container lock can be controlled to be locked when the unloading of the container is completed, so as to facilitate the next loading of the container.

[0087] Figure 2 FIG. 1 is a schematic diagram showing a structure of a logistics freight vehicle transportation supervision system according to an exemplary embodiment. Figure 2The logistics freight vehicle transportation supervision system 1000 includes: a processor 1100 and a memory 1200, wherein the memory 1200 stores computer program instructions, and when the computer program instructions are executed by the processor 1100, all or part of the steps of the logistics freight vehicle transportation supervision method in this application are implemented.

[0088] It should be understood that the features of some embodiments of the various applications described herein may be combined with each other unless specifically stated otherwise.

[0089] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Instead, these terms are only used to distinguish one component, part, region, layer, or section from another component, part, region, layer, or section. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section.

[0090] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0091] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or diagram. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous over other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or".

[0092] Likewise, although the present application has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. With particular regard to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if not structurally equivalent to the disclosed structures.

[0093] Additionally, while particular features of the present application may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application.

[0094] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application, and the specification and embodiments are only considered as exemplary.

[0095] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A method for supervising the transportation of logistics freight vehicles. It is characterized in that include: When the vehicle is performing a transportation task, obtaining the initial position of the vehicle at the starting time; Acquire the first position information of the vehicle in the target time period through the positioning system, and determine the first driving path of the vehicle in the target time period according to the first position information and the starting position; the target time period is the time period between the starting time and the current time; Acquiring speed information of the vehicle within the target time period through a speed sensor of the vehicle, and determining a second driving path of the vehicle within the target time period based on the speed information and the starting position; Correcting the first driving path according to the second driving path to obtain a target driving path of the vehicle within a target time period; Determine the target position of the vehicle at the current moment according to the target driving path and the initial position, and send the target position to a supervision server; The speed information includes driving direction information and driving speed information; The method further comprises: Obtaining a fluctuation value of the absolute value of the acceleration of the vehicle within a preset time period before the current moment; When the fluctuation value is greater than a preset fluctuation threshold, sending a prompt message to the supervision server, wherein the prompt message is used to prompt that the fluctuation value is greater than the preset fluctuation threshold; , where G represents the fluctuation value of the absolute value of the vehicle's acceleration in the preset time period before the current moment, W represents the length of the preset time period before the current moment, R represents the driving distance of the vehicle in the adjacent time period at the current moment, and C j represents the driving distance of the vehicle in the adjacent time period at the jth moment within the preset time period, N represents the absolute value of the vehicle's acceleration at the current moment, and D j It represents the absolute value of the vehicle's acceleration at the jth moment in the preset time period before the current moment, norm is the normalization function, Indicates taking the absolute value.

2. The method for supervising the transportation of logistics freight vehicles according to claim 1, It is characterized in that Correcting the first driving path according to the second driving path to obtain a target driving path of the vehicle within a target time period includes: Matching the position points corresponding to the same time in the first driving path and the second driving path to determine the evaluation value of the position point in the first driving path; the evaluation value is used to represent the degree of matching between the position point in the first driving path and the position point in the second driving path corresponding to the same time; For a first position point in the first driving path whose evaluation value is less than or equal to the first preset evaluation threshold, the midpoint of a line formed by the first position point and a position point in the second driving path corresponding to the same time is used as a second position point after the first position point is corrected; In chronological order, position points in the first driving path whose evaluation values ​​are greater than the first preset evaluation threshold are connected with a plurality of second position points to obtain a target driving path of the vehicle within a target time period.

3. The method for supervising the transportation of logistics freight vehicles according to claim 1, It is characterized in that Correcting the first driving path according to the second driving path to obtain a target driving path of the vehicle within a target time period includes: Performing position point matching on the second driving path and the first driving path to determine a matched target position point, where the target position point is a position point in the second driving path that does not match the first driving path; Determine a third driving path passing through all target locations in the second driving path by using a shortest path algorithm; A target driving path of the vehicle within a target time period is obtained according to the third driving path and the second driving path.

4. The method for supervising the transportation of logistics freight vehicles according to claim 3, It is characterized in that Obtaining a target driving path of the vehicle within a target time period according to the third driving path and the second driving path includes: determining a fourth driving path in the second driving path corresponding to the third driving path; The fourth driving path in the second driving path is replaced by the third driving path to obtain a target driving path of the vehicle within a target time period.

5. The method for supervising the transportation of logistics freight vehicles according to claim 1, It is characterized in that Determining a first driving path of the vehicle in a target time period according to the first position information and the starting position includes: Determine the position points of the vehicle at different times within the target time period according to the first position information of the vehicle within the target time period; Taking the starting position as the starting point, the position points of the vehicle at different times within the target time period are connected in sequence to obtain a first driving path of the vehicle within the target time period.

6. The method for supervising the transportation of logistics freight vehicles according to claim 1, It is characterized in that Determine a second driving path of the vehicle within a target time period according to the speed information and the starting position, including: For a target moment within a target time period, a sub-travel path of the vehicle in a target sub-time period is determined according to the vehicle's travel speed information and travel direction information at the target moment, wherein the target sub-time period is a time period in which the target moment and a moment before the target moment are located; In chronological order, multiple sub-driving paths corresponding to multiple target sub-time periods in the target time period are connected end to end to obtain a second driving path of the vehicle in the target time period.

7. The method for supervising the transportation of logistics freight vehicles according to any one of claims 1 to 6, It is characterized in that The method further comprises: When the target location is the designated location of the transport task, in response to receiving a control instruction for a container lock on the vehicle, controlling the container lock to switch the switch state; According to the time when the container lock performs switch state switching and the target position, switch state switching information is generated, and the switch state switching information is sent to the supervision server.

8. The method for supervising the transportation of logistics freight vehicles according to claim 7, It is characterized in that The designated location of the transport task includes a designated unloading location. When the target location is the designated location of the transport task, in response to receiving a control instruction for a container lock on a vehicle, controlling the container lock to switch a switch state includes: When the target location is a designated unloading location of the transport task, in response to receiving a control instruction for a container lock on the vehicle, controlling the switch state of the container lock to switch to an unlocked state; When receiving the indication information sent by the target terminal, the switch state of the container lock is controlled to be switched to the locked state, and the indication information is used to indicate that the unloading of the vehicle container has been completed.

9. A logistics freight vehicle transportation supervision system, It is characterized in that include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the method according to any one of claims 1 to 8 is implemented.

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