Unmanned vehicle system

Abstract

The invention provides an unmanned vehicle system. The unmanned vehicle system comprises a plurality of unmanned vehicles. The plurality of unmanned carriers include a first unmanned carrier and a second unmanned carrier. The first unmanned vehicle provides an information pattern, wherein the information pattern indicates control information. The second unmanned vehicle obtains the control information by identifying the information pattern. Wherein the plurality of unmanned carriers are distributed in a working range divided into a plurality of working layers, the first unmanned carrier determines a specific working layer where the second unmanned carrier is located, and the specific working layer is one of the plurality of working layers. Therefore, the management server can transmit the information pattern and / or the control information to the second unmanned vehicle through the first unmanned vehicle under the condition that the management server does not need to communicate with the second unmanned vehicle, so that the communication burden and complexity of the management server can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to vehicle technology, and in particular to an unmanned vehicle system. Background Art

[0002] In a general unmanned vehicle control system, a central server is usually used to communicate with several unmanned vehicles. Each unmanned vehicle needs to be connected to the central server wirelessly or wired to undertake the tasks assigned by the central server.

[0003] In the process of arranging tasks, the central server needs to pre-arrange the corresponding movement paths according to the tasks of each unmanned vehicle, and the complexity of path planning will also increase with the increase in the number of unmanned vehicles.

[0004] In the prior art, point-to-point communication between unmanned vehicles is mostly based on short-range wireless communication technology (such as Wi-Fi, Bluetooth and / or near field communication (NFC)), and collision avoidance mechanisms are mostly implemented with the assistance of sensors such as acoustic / optical radar. However, as the number of unmanned vehicles increases, the related communication mechanisms will not only become more complex, but also may cause the related radar waves to spread throughout the field, affecting the accuracy of control between unmanned vehicles. Summary of the invention

[0005] In view of this, the present invention provides an unmanned vehicle system, which can be used to solve the above technical problems.

[0006] Based on the above objectives, the present invention proposes an unmanned vehicle system, characterized in that it includes: Multiple unmanned vehicles, including: A first unmanned vehicle provides an information pattern, wherein the information pattern indicates control information; and The second unmanned vehicle obtains the control information by recognizing the information pattern; The multiple unmanned vehicles are distributed in a working range divided into multiple working layers, and the first unmanned vehicle determines the specific working layer where the second unmanned vehicle is located, wherein the specific working layer is one of the multiple working layers.

[0007] In a preferred embodiment, the first unmanned vehicle includes a display device, and the display device displays the information pattern.

[0008] In a preferred embodiment, the display device includes at least one of a screen and a light emitting diode rotating display system.

[0009] In a preferred embodiment, the first unmanned vehicle includes a propeller, and the LED rotating display system is integrated with the propeller.

[0010] In a preferred embodiment, the display device is mounted on a first surface of the first unmanned vehicle, and the second unmanned vehicle includes a reader, which is mounted on a second surface of the second unmanned vehicle and reads the information pattern.

[0011] In a preferred embodiment, the first unmanned vehicle and the second unmanned vehicle are respectively a first drone and a second drone, and the first surface is one of a top surface and a bottom surface, and the second surface is the other of the top surface and the bottom surface.

[0012] In a preferred embodiment, the first unmanned vehicle includes a first wireless transceiver, and the second unmanned vehicle includes a second wireless transceiver, wherein the first wireless transceiver receives a specific wireless signal sent by the second unmanned vehicle through the second wireless transceiver.

[0013] In a preferred embodiment, the first unmanned vehicle determines the specific working layer where the second unmanned vehicle is located based on the specific wireless signal from the second wireless transceiver.

[0014] In a preferred embodiment, the specific wireless signal from the second wireless includes a working layer indicator, wherein the working layer indicator indicates the specific working layer where the second unmanned vehicle is located; or, the first unmanned vehicle executes: obtaining the receiving power of the first wireless transceiver receiving the specific wireless signal, and estimating the specific distance between the first unmanned vehicle and the second unmanned vehicle based on it; and determining the specific working layer where the second unmanned vehicle is located based on the specific distance.

[0015] In a preferred embodiment, the plurality of unmanned vehicles are distributed in a working range divided into a plurality of working layers, and the first unmanned vehicle performs: determining the number of unmanned vehicles corresponding to at least one of the working layers; and reporting the number of unmanned vehicles corresponding to the working layer to the management server.

[0016] In a preferred embodiment, the first unmanned vehicle executes: receiving wireless signals from each of the unmanned vehicles located on the at least one working layer, and determining the number of the unmanned vehicles corresponding to each of the working layers accordingly; or, the first unmanned vehicle executes: capturing multiple images of each of the unmanned vehicles located on the at least one working layer, and determining the number of the unmanned vehicles corresponding to each of the working layers accordingly.

[0017] In a preferred embodiment, the multiple unmanned vehicles are distributed in a working range divided into multiple working layers, and the first unmanned vehicle performs: receiving wireless signals from each of the unmanned vehicles located at at least one working layer; and determining the number of unmanned vehicles corresponding to a sub-working range in the working range based on the number of the received wireless signals, wherein the sub-working range includes the at least one working layer.

[0018] In a preferred embodiment, the information pattern includes at least one of a QR code and a bar code.

[0019] In a preferred embodiment, the multiple unmanned vehicles include at least one relay vehicle and at least one other vehicle, and only the relay vehicle among the multiple unmanned vehicles is allowed to communicate with the management server, and the other vehicles do not communicate with the management server, wherein the first unmanned vehicle acts as the relay vehicle and obtains at least one of the information pattern and the control information from the management server.

[0020] In a preferred embodiment, the control information controls the second unmanned vehicle to move from the specific working layer where it is located to another specific working layer among the multiple working layers.

[0021] In a preferred embodiment, the control information controls the second unmanned vehicle to pause the execution of the first task and start executing the second task; or, the control information controls the second unmanned vehicle to pause and go to a specific work area.

[0022] Compared with the prior art, the present invention allows the second unmanned vehicle to obtain the control information indicated by the information pattern and perform the corresponding task / operation accordingly by providing the information pattern to the second unmanned vehicle for identification by the first unmanned vehicle. In this way, the management server can transmit the information pattern and / or control information to the second unmanned vehicle through the first unmanned vehicle without communicating with the second unmanned vehicle, thereby effectively reducing the communication burden and complexity of the management server. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of an unmanned vehicle system according to an embodiment of the present invention.

[0024] Figure 2 is a schematic diagram of a first unmanned vehicle and a second unmanned vehicle according to an embodiment of the present invention.

[0025] Figure 3 It is a schematic diagram of an information transmission mechanism according to an embodiment of the present invention. Implementation

[0026] In order to provide a further understanding of the purpose, structure, features, and functions of the present invention, the following detailed description is given in conjunction with the embodiments.

[0027] Please refer to Figure 1, which is a schematic diagram of an unmanned vehicle system according to an embodiment of the present invention. In an embodiment of the present invention, the unmanned vehicle system 100 includes a plurality of unmanned vehicles, wherein the plurality of unmanned vehicles are, for example, drones, but are not limited thereto. In other embodiments, the unmanned vehicle system 100 may also include a plurality of unmanned guided vehicles, autonomous mobile robots, or the like, but are not limited thereto.

[0028] In one embodiment, the plurality of unmanned vehicles are, for example, drones distributed in a working range R (eg, airspace or other similar fields), and the working range R may be divided into a plurality of working layers, for example.

[0029] exist Figure 1 In the scenario, each unmanned vehicle may be assigned to move / work in one of the plurality of working layers, for example, unmanned vehicle 11 may be assigned to move and / or perform tasks in working layer L1, and unmanned vehicles 12 and 13 may be assigned to move and / or perform tasks in working layer L2, but the present invention is not limited thereto.

[0030] In an embodiment of the present invention, an unmanned vehicle may transmit information to another unmanned vehicle in a specific manner. Figure 2 This is described as an example, but it is only used as an example and is not used to limit the possible implementation methods of the present invention.

[0031] Please refer to Figure 2 , which is a schematic diagram of a first unmanned vehicle and a second unmanned vehicle according to an embodiment of the present invention. In this embodiment, the first unmanned vehicle 21 and the second unmanned vehicle 22 are, for example, Figure 1 Two of the unmanned vehicles of the unmanned vehicle system 100, but is not limited to this.

[0032] exist Figure 2 In the embodiment, the first unmanned vehicle 21 may include a display device 211 installed on a first surface S1 (e.g., top surface) of the first unmanned vehicle 21. In different embodiments, the display device 211 may be implemented as various displays / screens, such as a liquid crystal display (LCD), a plasma display, a vacuum fluorescent display, a light-emitting diode (LED) display, a field emission display (FED), an electronic paper screen, etc., but is not limited thereto.

[0033] In one embodiment, the display device 211 may also be implemented as a rotating LED display system including a plurality of light emitting diode (LED) light bars. In one embodiment, the rotating LED display system may be independently disposed on the first surface S1 of the first unmanned vehicle 21, or integrated with the propeller 212 of the first unmanned vehicle 21, so as to display patterns using rotating LED light bars, and then form graphics, animations, etc. using the principle of visual persistence, but is not limited thereto.

[0034] In one embodiment, the display device 211 may be used to provide / display the information pattern P1, and the information pattern P1 may indicate control information (hereinafter referred to as CI), for example. Figure 2 In the scenario, the information pattern P1 can be implemented as a barcode, for example. In other embodiments, the information pattern P1 can also be implemented as a QR code and / or other patterns that can be used to carry information, but is not limited thereto.

[0035] In the unmanned vehicle system 100 , unmanned vehicles other than the first unmanned vehicle 21 can obtain control information CI by identifying the information pattern P1 and perform corresponding tasks accordingly. For ease of understanding, the second unmanned vehicle 22 is used as an example for description below, but the present invention is not limited thereto.

[0036] exist Figure 2 In the embodiment, the second unmanned vehicle 22 may include a reader 221, and the reader 221 may be installed on the second surface S2 (e.g., the bottom surface) of the second unmanned vehicle 22, and read the information pattern P1. In this case, the first unmanned vehicle 21 may be understood as providing / displaying the information pattern P1 upward, and the second unmanned vehicle 22 may be understood as reading the information pattern P1 downward.

[0037] In other embodiments, the first surface S1 of the first unmanned vehicle 21 may also be the bottom surface of the first unmanned vehicle 21. In contrast, the second surface S2 of the second unmanned vehicle 22 may be implemented as the top surface of the second unmanned vehicle 22. In this case, the first unmanned vehicle 21 may be understood as providing / displaying the information pattern P1 downward, and the second unmanned vehicle 22 may be understood as reading the information pattern P1 upward, but it is not limited thereto.

[0038] In different embodiments, the reader 221 may be implemented as a barcode reader, a two-dimensional code reader and / or other reading devices that can be used to read / identify the information pattern P1, but is not limited thereto.

[0039] In some embodiments, the control information CI may be used, for example, to allow one or more unmanned vehicles that obtain the control information CI to execute (or stop executing) a specific task.

[0040] For example, assuming that the second unmanned vehicle 22 is located at Figure 1A specific working layer (such as working layer L2) within the working range R, and the control information CI can, for example, control the second unmanned vehicle 22 to move from the specific working layer where it is located to another specific working layer (such as working layer L1) in the working range R.

[0041] For another example, the control information CI can control the second unmanned vehicle 22 to pause the first task currently being executed (such as emitting light in place) and start executing the second task (such as moving and rotating at the same time); in other words, the control information CI sets the priority of the second task to be higher than the priority of the first task, and switches to execute the second task by updating and comparing the priority, the completion status of the task, etc.

[0042] For another example, the control information CI can control the second unmanned vehicle 22 to stop going to a specific work area. For example, assuming that the task currently being performed by the second unmanned vehicle 22 is to go to the work layer L1, but if the work layer L1 is already congested (for example, there are too many unmanned vehicles), the first unmanned vehicle 21 can control the second unmanned vehicle 22 to stop going to the work layer L1 through the control information CI, so as to avoid increasing the congestion level of the work layer L1, such as staying there for a few minutes, but it is not limited to this. In other embodiments, the control information CI can also be used to control the priority of the work layer L1 that is currently congested to be lowered, and the second unmanned vehicle can be controlled to enter other work layers first.

[0043] exist Figure 2 In the scenario, assuming that the first unmanned vehicle 21 is located at a certain working layer (eg, working layer L1 ) in the working range R, the unmanned vehicles located at other working layers (eg, working layer L2 ) above this working layer can obtain the control information CI by reading the information pattern P1 .

[0044] In one embodiment, in addition to being able to Figure 2 In addition to the method shown in FIG. 1 , the first unmanned vehicle 21 transmits the control information CI to the second unmanned vehicle 22. The second unmanned vehicle 22 can also transmit information to the first unmanned vehicle 21 in a specific manner, and the relevant content will be supplemented by Figure 3 For explanation.

[0045] Please refer to Figure 3 , which is a schematic diagram of an information transmission mechanism according to an embodiment of the present invention. Figure 3 In order to enable the second unmanned vehicle 22 to detect objects located below, the second unmanned vehicle 22 (the second surface S2) may be provided with a second infrared transceiver 222, so as to estimate information such as distance based on the reflected infrared signal after transmitting the infrared signal; other wireless transceiver technologies may also be used, such as short-range wireless communication technologies: Wi-Fi, Bluetooth and / or near field communication (NFC), but the present invention is not limited thereto.

[0046] In an embodiment of the present invention, the second unmanned vehicle 22 may be configured to provide additional information to another unmanned vehicle (eg, the first unmanned vehicle 21 ) via an infrared signal emitted by the second infrared transceiver 222 .

[0047] In this case, the first unmanned vehicle 21 (the first surface S1 thereof) may be provided with a first infrared transceiver 213 , and the first infrared transceiver 213 may receive the specific infrared signal K1 sent by the second unmanned vehicle 22 via the second infrared transceiver 222 .

[0048] In one embodiment, the second unmanned vehicle 22 may carry information related to the specific working layer where the second unmanned vehicle 22 is located in the specific infrared signal K1 sent. For example, assuming that the second unmanned vehicle 22 is currently located at the working layer L2, the second unmanned vehicle 22 may carry a working layer indicator indicating the working layer L2 in the specific infrared signal K1 sent.

[0049] Accordingly, after the first unmanned vehicle 21 receives the specific infrared signal K1 through the first infrared transceiver 213 , it can be known that the second unmanned vehicle 22 is currently located at the working level L2 , but the present invention is not limited thereto.

[0050] In addition, Figure 3 In the scenario, assuming that the first unmanned vehicle 21 is located at a certain working layer in the working range R, the first unmanned vehicle 21 can receive the corresponding specific infrared signal from the unmanned vehicles located at other working layers (such as working layer L2) above this working layer through the above method. For example, assuming that the first unmanned vehicle 21 is located at working layer L1, the first unmanned vehicle 21 can know how many unmanned vehicles exist in each working layer above working layer L1 through the above method.

[0051] For example, assume that the first unmanned vehicle 21 receives K (K is a positive integer) specific infrared signals corresponding to different unmanned vehicles, and the K specific infrared signals all include a working layer indicator corresponding to the working layer L2. In this case, the first unmanned vehicle 21 can determine that at least K unmanned vehicles are working / moving in the working layer L2, but it is not limited thereto.

[0052] In one embodiment, the first unmanned vehicle 21 may also obtain the receiving power of the first infrared transceiver 213 receiving the specific infrared signal K1, and estimate the specific distance DD between the first unmanned vehicle 21 and the second unmanned vehicle 22. Afterwards, the first unmanned vehicle 21 may determine the specific working layer where the second unmanned vehicle 22 is located based on the specific distance DD.

[0053] Generally speaking, the attenuation of the signal is inversely proportional to the distance. In this case, assuming that the first unmanned vehicle 21 knows the power of the specific infrared signal K1 emitted by the second unmanned vehicle 22, the first unmanned vehicle 21 can, for example, infer the specific distance DD based on the attenuation of the received power of the specific infrared signal K1.

[0054] When it is known that the second unmanned vehicle 22 is located above the first unmanned vehicle 21 and at a specific distance DD, the first unmanned vehicle 21 can accordingly determine which working layer the second unmanned vehicle 22 should currently be located in the working range R. For example, assuming that the working layer L2 ranges from A meters to B meters above sea level, the first unmanned vehicle 21 can add the specific distance DD to its own height to know the height of the second unmanned vehicle 22. Assuming that the height of the second unmanned vehicle 22 is between A meters and B meters above sea level, the first unmanned vehicle 21 can determine that the second unmanned vehicle 22 is located in the working layer L2, but it is not limited thereto.

[0055] In addition, Figure 3 In the scenario, assuming that the first unmanned vehicle 21 is located at a certain working layer in the working range R, the first unmanned vehicle 21 can receive corresponding specific infrared signals from unmanned vehicles located at other working layers (such as working layer L2) above this working layer in the above manner, and determine the working layers where these unmanned vehicles are located. The relevant details can be referred to the description of the above embodiment, and will not be repeated here.

[0056] In one embodiment, the first unmanned vehicle 21 can determine the number of unmanned vehicles corresponding to each working layer according to the above method, and report the number of unmanned vehicles corresponding to each working layer to the management server 299. In the embodiment of the present invention, the management server 299 is, for example, a server for arranging / controlling each unmanned vehicle in the unmanned vehicle system 100, but is not limited thereto.

[0057] In one embodiment, the first unmanned vehicle 21 can receive wireless signals (such as specific infrared signals corresponding to each unmanned vehicle) from each unmanned vehicle located at each working layer, and determine the number of unmanned vehicles corresponding to each working layer accordingly.

[0058] In another embodiment, the first unmanned vehicle 21 may also capture multiple images of each unmanned vehicle located at each working layer, and determine the number of unmanned vehicles corresponding to each working layer accordingly. For example, the first unmanned vehicle 21 may perform relevant image recognition on the unmanned vehicles in the captured image, and estimate the distance between each unmanned vehicle and the first unmanned vehicle 21 based on, for example, the size of each unmanned vehicle in the image. Afterwards, the first unmanned vehicle 21 may infer the working layer where each unmanned vehicle is located based on the previous description, and report it to the management server 299 accordingly, but it is not limited to this.

[0059] In one embodiment, after receiving wireless signals (such as the above-mentioned specific infrared signals) from each unmanned vehicle located at each working layer, the first unmanned vehicle 21 can also determine the number of unmanned vehicles corresponding to the sub-working range in the working range R based on the number of received wireless signals, wherein the sub-working range includes at least one of the multiple working layers.

[0060] For example, assuming that the first unmanned vehicle 21 located on the working layer L1 receives K wireless signals from above it, the first unmanned vehicle 21 can determine one or more working layers above the working layer L1 as a sub-working range of the working range R, and correspondingly determine that there are K unmanned vehicles within this sub-working range, but it is not limited to this.

[0061] In one embodiment, the unmanned vehicle system 100 may include at least one relay vehicle and at least one other vehicle, and only the relay vehicle in the unmanned vehicle system 100 is allowed to communicate with the management server 299, while the other vehicles are not allowed to communicate with the management server 299. In other words, in the unmanned vehicle system 100, only the relay vehicle can communicate with the management server 299, while other vehicles that are not relay vehicles cannot communicate with the management server 299.

[0062] In the embodiment of the present invention, each relay vehicle can obtain at least one of the information pattern P1 and the control information CI from the management server 299. Figure 2 The information pattern P1 and / or control information CI are transmitted to other unmanned vehicles in the manner shown. In other words, the management server 299 can transmit the information pattern P1 and / or control information CI to other vehicles through the relay vehicle when only communicating with the relay vehicle. In this way, the communication burden and complexity of the management server 299 can be effectively reduced.

[0063] Assume that the first unmanned vehicle 21 is the relay vehicle, and the second unmanned vehicle 22 is the other vehicle. In this case, after obtaining the information pattern P1 and / or the control information CI from the management server 299, the first unmanned vehicle 21 can Figure 2 The mechanism shown transmits the information pattern P1 and / or control information CI to the second unmanned vehicle 22 and other unmanned vehicles belonging to other vehicles that cannot communicate with the management server 299. In this way, the management server 299 can transmit the information pattern P1 and / or control information CI to the second unmanned vehicle 22 and other unmanned vehicles belonging to other vehicles through the first unmanned vehicle 21 without communicating with the second unmanned vehicle 22.

[0064] In summary, the embodiments of the present invention can allow the second unmanned vehicle to obtain the control information indicated by the information pattern and perform the corresponding task / operation accordingly by providing an information pattern for the second unmanned vehicle to identify by the first unmanned vehicle. In this way, the management server can transmit the information pattern and / or control information to the second unmanned vehicle through the first unmanned vehicle without communicating with the second unmanned vehicle, thereby effectively reducing the communication burden and complexity of the management server. In addition, the management server can first build a system that includes some relay vehicles, and then the relay vehicles can flexibly and easily expand the number of vehicles included and the scale of the system by providing information patterns, without having to design the routes of all vehicles in advance before starting execution and re-planning when variables occur.

[0065] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention are all within the scope of patent protection of the present invention.

Claims

1. An unmanned vehicle system, characterized in that: include: Multiple unmanned vehicles, including: A first unmanned vehicle provides an information pattern, wherein the information pattern indicates control information; and The second unmanned vehicle obtains the control information by recognizing the information pattern; The multiple unmanned vehicles are distributed in a working range divided into multiple working layers, and the first unmanned vehicle determines the specific working layer where the second unmanned vehicle is located, wherein the specific working layer is one of the multiple working layers.

2. The unmanned vehicle system according to claim 1, characterized in that: The first unmanned vehicle includes a display device, and the display device displays the information pattern.

3. The unmanned vehicle system according to claim 2, characterized in that: The display device includes at least one of a screen and a light emitting diode rotating display system.

4. The unmanned vehicle system according to claim 3, characterized in that: The first unmanned vehicle includes a propeller, and the light emitting diode rotating display system is integrated with the propeller.

5. The unmanned vehicle system according to claim 2, characterized in that: The display device is installed on the first surface of the first unmanned vehicle. The second unmanned vehicle includes a reader. The reader is installed on the second surface of the second unmanned vehicle and reads the information pattern.

6. The unmanned vehicle system according to claim 5, characterized in that: The first unmanned vehicle and the second unmanned vehicle are respectively a first drone and a second drone, and the first surface is one of a top surface and a bottom surface, and the second surface is the other of the top surface and the bottom surface.

7. The unmanned vehicle system according to claim 1, wherein: The first unmanned vehicle includes a first wireless transceiver, and the second unmanned vehicle includes a second wireless transceiver, wherein the first wireless transceiver receives a specific wireless signal sent by the second unmanned vehicle through the second wireless transceiver.

8. The unmanned vehicle system according to claim 7, characterized in that: The first unmanned vehicle determines the specific working layer where the second unmanned vehicle is located based on the specific wireless signal from the second wireless transceiver.

9. The unmanned vehicle system according to claim 8, characterized in that: The specific wireless signal from the second wireless includes a working layer indicator, wherein the working layer indicator indicates the specific working layer where the second unmanned vehicle is located; or, The first unmanned vehicle executes: obtaining the receiving power of the first wireless transceiver receiving the specific wireless signal, and estimating the specific distance between the first unmanned vehicle and the second unmanned vehicle based on the receiving power; and determining the specific working layer where the second unmanned vehicle is located based on the specific distance.

10. The unmanned vehicle system according to claim 1, wherein: The plurality of unmanned vehicles are distributed in a working range divided into a plurality of working layers, and the first unmanned vehicle performs: Determining the number of unmanned vehicles corresponding to at least one of the working layers; and The number of the unmanned vehicles corresponding to the working layer is reported to the management server.

11. The unmanned vehicle system according to claim 10, characterized in that: The first unmanned vehicle executes: receiving wireless signals from each of the unmanned vehicles located at the at least one working layer, and determining the number of the unmanned vehicles corresponding to each of the working layers accordingly; or, The first unmanned vehicle executes: photographing a plurality of images of each of the unmanned vehicles located at the at least one working layer, and determining the number of the unmanned vehicles corresponding to each of the working layers accordingly.

12. The unmanned vehicle system according to claim 1, wherein: The plurality of unmanned vehicles are distributed in a working range divided into a plurality of working layers, and the first unmanned vehicle performs: Receiving wireless signals from each of the unmanned vehicles located on at least one working level; and The number of unmanned vehicles corresponding to a sub-working range in the working range is determined according to the number of the received wireless signals, wherein the sub-working range includes the at least one working layer.

13. The unmanned vehicle system according to claim 1, wherein: The information pattern includes at least one of a QR code and a bar code.

14. The unmanned vehicle system according to claim 1, wherein: The multiple unmanned vehicles include at least one relay vehicle and at least one other vehicle, and only the relay vehicle among the multiple unmanned vehicles is allowed to communicate with the management server, and the other vehicles do not communicate with the management server, wherein the first unmanned vehicle acts as the relay vehicle and obtains at least one of the information pattern and the control information from the management server.

15. The unmanned vehicle system according to claim 1, wherein: The control information controls the second unmanned vehicle to move from the specific working layer where it is located to another specific working layer among the multiple working layers.

16. The unmanned vehicle system according to claim 1, wherein: The control information controls the second unmanned vehicle to suspend the first task being executed and start executing the second task; or, The control information controls the second unmanned vehicle to stop and go to the specific working area.

Images