Goods transfer method, goods transfer trolley and storage medium
By designing automated cargo transfer methods and vehicles, the problem of a large amount of labor costs for cargo transfer in the aviation park is solved, and an automated transfer process is realized, which improves efficiency and reduces costs.
Patent Information
- Application Number
- CN202411565745.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-05
- Publication Date
- 2025-02-28
AI Technical Summary
During the cargo transfer process within the aviation park, a large amount of labor costs are required, resulting in inefficiency and high costs.
Design a cargo transfer method and vehicle, automatically navigate to the loading and unloading locations by receiving cargo transfer instructions from the dispatching server, establish a communication connection with the conveying line, realize automatic loading and unloading, and reduce manual intervention.
An automated cargo transfer process has been realized, reducing labor costs, improving transportation efficiency and reducing operating costs.
Smart Images
Figure CN119539666A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of logistics and transportation technology, and in particular to a cargo transfer method, a cargo transfer vehicle and a storage medium. Background Art
[0002] At present, the transfer of goods in the aviation park is done by logistics personnel pulling a container flatbed truck or a bulk cargo flatbed truck to the loading point. The logistics personnel move the goods to the container flatbed truck or the bulk cargo flatbed truck and pull it to the unloading point. The logistics personnel unload the goods from the container flatbed truck or the bulk cargo flatbed truck, thus completing a cargo transfer.
[0003] Since the above-mentioned cargo transfer process requires manual labor throughout the entire process, when the number of cargoes that need to be transferred in the aviation park is large enough, a large amount of labor costs will be wasted. Summary of the invention
[0004] The present application provides a cargo transfer method, a cargo transfer vehicle and a storage medium, which are used to solve the problem in the prior art that a large amount of manpower costs are wasted during cargo transfer in an aviation park.
[0005] In a first aspect, the present application provides a cargo transfer method, which is applied to a cargo transfer vehicle, the cargo transfer vehicle including a carriage, and the method includes:
[0006] Receiving a cargo transfer instruction from a dispatch server, wherein the cargo transfer instruction includes a loading location and an unloading location;
[0007] Navigate to the loading location according to the current location and loading location, where a loading conveyor line is provided on one side of the loading location;
[0008] Establish a communication connection with the loading conveyor line and notify the loading conveyor line to load the goods into the carriage;
[0009] Receive goods from the loading conveyor line;
[0010] After confirming that loading is complete, navigate to the unloading location based on the loading location and unloading location. A unloading conveyor line is set on one side of the unloading location.
[0011] Transfer the goods in the carriage to the unloading conveyor line.
[0012] In a possible implementation, N roller transmission lines are arranged at the bottom of the carriage, where N is a positive integer. When in the loading position, each roller transmission line is located on one side of a loading conveyor line, and an electric door is arranged on the side of the carriage to receive the goods transmitted from the loading conveyor line, including:
[0013] Control the opening of the electric door and the rolling of N roller transmission lines to receive the goods transmitted from N loading conveyor lines; after confirming that the goods have been loaded, control the closing of the electric door.
[0014] In a possible implementation, when in the loading position, each roller transmission line is located on one side of a unloading conveyor line, and an electric door is provided on the side of the carriage to transfer the goods in the carriage to the unloading conveyor line, including:
[0015] Control the electric door to open; for each roller conveyor line, control the roller conveyor line to roll to transfer the goods to the corresponding unloading conveyor line, and after confirming that the goods have been unloaded, control the electric door to close.
[0016] In a possible implementation, each roller transmission line is provided with an electromagnetic blocker and a cargo detection sensor in a retracted state on both sides in the cargo transmission direction, respectively, to control the opening of the electric door and the rolling of the N roller transmission lines to receive the cargo transmitted from the N loading conveyor lines; after confirming that the cargo loading is completed, the electric door is controlled to close, including:
[0017] Control the opening of electric doors;
[0018] For each roller conveyor line, control the roller conveyor line to roll to receive the goods conveyed by the corresponding loading conveyor line;
[0019] When the cargo detection sensor on the side away from the loading conveyor line detects the cargo signal, it is confirmed that the cargo loading is completed;
[0020] Control the raising of the electromagnetic blockers respectively arranged on both sides in the direction of cargo transmission, and control the closing of the electric door.
[0021] In a possible implementation, transferring the cargo in the carriage to the unloading conveyor line includes:
[0022] Control the opening of the electric door and the retraction of the electromagnetic blockers respectively arranged on both sides in the direction of cargo transmission;
[0023] For each roller conveyor line, control the roller conveyor line to roll so as to convey goods to the corresponding unloading conveyor line;
[0024] The cargo detection sensor on the side close to the loading conveyor line detects the cargo signal and confirms that the cargo signal disappears, confirming that the cargo unloading is completed;
[0025] Control the raising of the electromagnetic blockers respectively arranged on both sides in the direction of cargo transmission, and control the closing of the electric door.
[0026] In a possible implementation, the cargo transfer vehicle further includes a satellite positioning module and a multi-line laser radar disposed on the front of the cargo transfer vehicle. In the process of navigating to the loading position or navigating to the unloading position,
[0027] When it is determined that the current location is outdoors, the satellite positioning module is used to locate the current location information;
[0028] When it is determined that the current location is indoors, a multi-line laser radar is used to collect an environmental image point cloud, and similarities between the collected environmental image point cloud and a plurality of preset standard environmental image point clouds are determined;
[0029] The position information corresponding to the standard environment image point cloud with the highest similarity is determined as the current position information.
[0030] In a possible implementation, the cargo transfer vehicle further includes a camera and a millimeter wave radar. During navigation to a loading location or a unloading location,
[0031] Receive the environmental video in front of the cargo transfer vehicle collected by the camera, and determine the round-trip time from the millimeter-wave radar transmitting the millimeter wave in front of the cargo transfer vehicle to receiving the reflected millimeter wave;
[0032] When it is determined that there is an obstacle in front of the cargo transfer vehicle based on the environmental video or when it is determined that there is an obstacle in front of the cargo transfer vehicle based on the round trip time, a braking operation is performed.
[0033] In a possible implementation, the cargo transfer vehicle further includes a human-computer interaction module. Before receiving the cargo transfer instruction from the dispatch server, the method provided by the present application further includes:
[0034] In response to a user inputting a power-on operation in the human-computer interaction module;
[0035] Conduct self-inspection of the status of the cargo transfer vehicle;
[0036] When an abnormality occurs in the cargo transfer vehicle, the human-computer interaction module is controlled to output abnormal prompt information.
[0037] In a second aspect, the present application also provides a cargo transfer vehicle, which is used to execute the method provided in the first aspect of the present application.
[0038] In a third aspect, the present application further provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a main processor, the main processor is prompted to implement a method for executing the method provided in the first aspect of the present application.
[0039] The present application provides a cargo transfer method, a cargo transfer vehicle, and a storage medium, which receive cargo transfer instructions from a dispatch server; navigate to the loading position according to the current location and loading position; establish a communication connection with the loading conveyor line, and notify the loading conveyor line to load the cargo into the carriage; receive the cargo transmitted from the loading conveyor line; after confirming that the loading is completed, navigate to the unloading position according to the loading position and the unloading position. Among them, a unloading conveyor line is provided on one side of the unloading position to transfer the cargo in the carriage to the unloading conveyor line. In this way, the automatic dispatching of the cargo transfer vehicle can be realized to realize the process of loading, transporting, and unloading, without the intervention of staff throughout the process, which greatly saves labor costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0041] Figure 1 A circuit connection block diagram of a cargo transfer vehicle is provided for an embodiment of the present application;
[0042] Figure 2 A structural schematic diagram of a cargo transfer vehicle is provided for an embodiment of the present application;
[0043] Figure 3 A flow chart of a cargo transshipment method provided in an embodiment of the present application;
[0044] Figure 4 A schematic diagram of the structure of a roller conveyor line provided in an embodiment of the present application. DETAILED DESCRIPTION
[0045] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.
[0046] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.
[0047] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element may be directly on the other layer / element or an intervening layer / element may exist therebetween. In addition, if a layer / element is "on" another layer / element in one orientation, the layer / element may be "below" the other layer / element when the orientation is reversed.
[0048] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0049] The present application embodiment provides a cargo transfer method, which is applied to a cargo transfer vehicle. Figure 1 and Figure 2 As shown, the cargo transfer vehicle includes a carriage 118, a wire-controlled chassis 117, a main processor 101, a wireless communication module 102, a battery management module 103 and a battery 104, and the main processor 101, the battery management module 103 and the battery 104 are electrically connected in sequence. The main processor 101 is also electrically connected to the wire-controlled chassis 117, and the wire-controlled chassis 117 includes a vehicle chassis, four tires arranged on the vehicle chassis, a wire controller 105 and a vehicle drive unit 106. The wire controller 105 is used to control the vehicle drive unit 106 to change the vehicle's motion state (such as controlling the vehicle drive unit 106 to change the vehicle's steering, braking or forward movement, etc.) in response to the vehicle motion control instructions from the main processor 101. The battery management module 103 and the battery 104 can be installed on the wire-controlled chassis 117, and the battery 104 can provide power for the entire cargo transfer vehicle. As shown Figure 3 As shown, the method includes:
[0050] S301: Receive cargo transfer instructions from the dispatch server.
[0051] The cargo transfer instruction includes a loading location and an unloading location. For example, the wireless communication module 102 (such as a WIFI module or a 4G / 5G module) of the cargo transfer vehicle can receive the cargo transfer instruction from the dispatch server and transmit the cargo transfer instruction to the main processor 101.
[0052] S302: Navigate to the loading location according to the current location and the loading location.
[0053] Among them, a loading conveyor line is provided on one side of the loading position. It is understandable that when the cargo transfer vehicle is at the loading position, the distance between the loading conveyor line and the cargo transfer vehicle is less than a set distance threshold (such as 2 cm, 5 cm or 8 cm, etc.), which is not limited here, so that the connection of the cargo 116 can be facilitated.
[0054] Still Figure 1 and Figure 2 The cargo transfer vehicle further includes a satellite positioning module 108 and a multi-line laser radar 107 disposed on the front of the cargo transfer vehicle, and the satellite positioning module 108 and the multi-line laser radar 107 are electrically connected to the main processor 101 respectively. S302 can be specifically implemented as follows:
[0055] Step A: During navigation to the loading location, when the main processor 101 determines that the vehicle is currently outdoors, it determines to use the satellite positioning module 108 to locate the current location information.
[0056] When the cargo transfer vehicle is outdoors, since the outdoor GPS signal is strong, the satellite positioning module 108 can well locate the current location information, and the reliability of using the satellite positioning module 108 to locate the current location information is high.
[0057] Step B: When it is determined that the current location is indoors, the multi-line laser radar 107 is used to collect the environmental image point cloud, and the main processor 101 determines the similarity between the collected environmental image point cloud and a plurality of preset standard environmental image point clouds.
[0058] Step C: the main processor 101 determines the position information corresponding to the standard environment image point cloud with the highest similarity as the current position information.
[0059] When the cargo transfer vehicle is indoors, the satellite positioning module 108 may not be able to locate the current location information well due to the weak GPS signal indoors. However, it is convenient to collect videos of reference objects for positioning the position indoors. In this way, the environmental image point cloud collected by the multi-line laser radar 107 is used to locate the position of the cargo transfer vehicle with high reliability.
[0060] It can be understood that since the cargo transfer vehicle can accurately locate its own position, the cargo transfer vehicle can accurately navigate from the current position to the loading position.
[0061] In addition, Figure 1 and Figure 2As shown, the cargo transfer vehicle also includes a camera 115 and a millimeter wave radar 114. In the process of navigating to the loading position or navigating to the unloading position, the main processor 101 can receive the environmental video in front of the cargo transfer vehicle collected by the camera 115, and determine the round-trip time from the millimeter wave radar 114 transmitting millimeter waves in front of the cargo transfer vehicle to receiving the reflected millimeter waves; when it is determined that there is an obstacle in front of the cargo transfer vehicle according to the environmental video or when it is determined that there is an obstacle in front of the cargo transfer vehicle according to the round-trip time, the braking operation is performed. For example, when an obstacle video (such as a person video or an animal video) is identified in the environmental video, it is determined that there is an obstacle in front of the cargo transfer vehicle; for another example, the distance of the obstacle is determined according to the speed of the millimeter wave and the round-trip time of the millimeter wave; when the distance of the obstacle is less than the set distance threshold, it is determined that there is an obstacle in front of the cargo transfer vehicle. In this way, the safe driving of the cargo transfer vehicle can be achieved.
[0062] S303: Establish a communication connection with the loading conveyor line, and notify the loading conveyor line to load the goods into the carriage 118.
[0063] When the cargo transfer vehicle arrives at the loading location, it can send a communication request to the loading conveyor line, and the loading conveyor line can respond to the communication request and reply a confirmation instruction to the cargo transfer vehicle, and then the cargo transfer vehicle and the loading conveyor line establish a communication connection. After receiving the loading notification from the cargo transfer vehicle, the loading conveyor line starts loading the cargo to the cargo transfer vehicle.
[0064] S304: receiving the goods 116 transmitted from the loading conveyor line.
[0065] Exemplarily, N roller transmission lines 111 are provided at the bottom of the carriage 118, where N is a positive integer ( Figure 2 N=2). Figure 2 As shown, in the case of loading position, each roller transmission line 111 is located on one side of a loading conveyor line, and an electric door 112 is provided on the side of the carriage 118. In this way, the main processor 101 can control the electric door 112 to open and control the N roller transmission lines 111 to roll, and receive the goods 116 transmitted from the N loading conveyor lines; after confirming that the goods 116 have been loaded, the electric door 112 is controlled to close.
[0066] Furthermore, if Figure 4As shown, each roller transmission line 111 is provided with an electromagnetic blocker 110 and a cargo detection sensor 109 in a retracted state on both sides of the cargo transmission direction. The above-mentioned receiving of the cargo 116 transmitted from the loading conveyor line can be specifically implemented as follows: controlling the electric door 112 to open; for each roller transmission line 111, controlling the roller transmission line 111 to roll to receive the cargo 116 transmitted by the corresponding loading conveyor line; when the cargo detection sensor 109 on the side away from the loading conveyor line detects the cargo 116 signal, confirming that the cargo 116 has been loaded; controlling the electromagnetic blockers 110 respectively provided on both sides of the cargo transmission direction to rise, and controlling the electric door 112 to close. In this way, when the cargo transfer vehicle is transferring the cargo 116, the electromagnetic blocker 110 can prevent the cargo 116 from falling, and after the electric door 112 is closed, it can prevent the wind, rain and dust from the outside from invading the carriage 118 to protect the cargo 116 from being damaged.
[0067] S305: After confirming that the loading is completed, navigate to the unloading location according to the loading location and the unloading location. A unloading conveyor line is set on one side of the unloading location.
[0068] Similarly, the working principle of S305 is the same as the working principle of S302 described above, and will not be described in detail here.
[0069] S306: Transfer the cargo 116 in the carriage 118 to the unloading conveyor line.
[0070] In the case of loading position, each roller transmission line 111 is located at one side of a unloading conveying line, and an electric door 112 is provided on the side of the carriage 118. Specifically, the electric door 112 can be controlled to open, and for each roller transmission line 111, the roller transmission line 111 is controlled to roll to convey the goods 116 to the corresponding unloading conveying line; after confirming that the goods 116 have been unloaded, the electric door 112 is controlled to close to complete the unloading process.
[0071] Further, the method of transferring the cargo 116 in the carriage 118 to the unloading conveying line may be: Figure 4 As shown, the electric door 112 is controlled to open and the electromagnetic blockers 110 respectively arranged on both sides in the direction of cargo transmission are controlled to retract; for each roller transmission line 111, the roller transmission line 111 is controlled to roll to transmit cargo 116 to the corresponding unloading conveyor line; when the cargo detection sensor 109 on the side close to the loading conveyor line detects the cargo 116 signal and confirms that the cargo 116 signal disappears, it means that the cargo 116 has been unloaded, and it is confirmed that the unloading of the cargo 116 is completed; finally, the electromagnetic blockers 110 respectively arranged on both sides in the direction of cargo transmission are controlled to rise, and the electric door 112 is controlled to close.
[0072] In summary, the present application provides a cargo transfer method, which can receive cargo transfer instructions from a dispatch server; navigate to the loading position according to the current location and loading position; establish a communication connection with the loading conveyor line, and notify the loading conveyor line to load the cargo into the carriage 118; receive the cargo 116 transmitted from the loading conveyor line; after confirming that the loading is completed, navigate to the unloading position according to the loading position and the unloading position, wherein a unloading conveyor line is provided on one side of the unloading position, and the cargo 116 in the carriage 118 is transferred to the unloading conveyor line. In this way, the automatic dispatching of cargo transfer vehicles can be realized to realize the process of loading, transporting and unloading, without the intervention of staff throughout the process, which greatly saves labor costs.
[0073] In addition, based on the above embodiment, the cargo transfer vehicle further includes a human-computer interaction module 113. Before the above S301, the method provided in the embodiment of the present application further includes: responding to the user inputting a startup operation in the human-computer interaction module 113; self-checking the state of the cargo transfer vehicle; and controlling the human-computer interaction module 113 to output abnormal prompt information when the cargo transfer vehicle is abnormal. In this way, the staff can be reminded to inspect the cargo transfer vehicle to avoid failures when performing cargo transfer tasks.
[0074] In addition, when the cargo transfer vehicle has an abnormality during positioning or navigation, it can also output an abnormal prompt message. In this way, the staff can be further reminded to inspect the cargo transfer vehicle to avoid failure when performing cargo transfer tasks.
[0075] In addition, an embodiment of the present application also provides a cargo transfer vehicle, which is used to execute the method provided in the above embodiment of the present application.
[0076] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a main processor, the main processor is prompted to implement a method for executing the method provided in the above embodiment of the present application.
[0077] In the above description, the technical details such as the patterning of each layer are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above. In addition, although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage.
[0078] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.
[0079] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.
Claims
1. A cargo transshipment method, characterized in that: Applied to a cargo transfer vehicle, the cargo transfer vehicle includes a carriage, and the method includes: Receiving a cargo transfer instruction from a dispatch server, wherein the cargo transfer instruction includes a loading location and an unloading location; Navigate to the loading location according to the current location and the loading location, wherein a loading conveyor line is provided on one side of the loading location; Establishing a communication connection with the loading conveyor line, and notifying the loading conveyor line to load the goods into the carriage; Receiving goods transmitted from the loading conveyor line; After confirming that the loading is completed, navigate to the unloading location according to the loading location and the unloading location, wherein a unloading conveyor line is set on one side of the unloading location. The cargo in the carriage is transferred to the unloading conveying line.
2. The method according to claim 1, characterized in that The bottom of the carriage is provided with N roller transmission lines, N is a positive integer, and when in the loading position, each roller transmission line is located on one side of the loading transmission line, and an electric door is provided on the side of the carriage, and the receiving of the goods transmitted from the loading transmission line includes: Control the electric door to open and the N roller transmission lines to roll, and receive the goods transmitted from the N loading conveyor lines; after confirming that the loading of the three items is completed, control the electric door to close.
3. The method according to claim 2, characterized in that In the case of being in the loading position, each of the roller transmission lines is located on one side of the unloading conveying line, and an electric door is provided on the side of the carriage to transfer the goods in the carriage to the unloading conveying line, including: Control the electric door to open; for each roller transmission line, control the roller transmission line to roll to transfer the goods to the corresponding unloading conveyor line, and after confirming that the goods have been unloaded, control the electric door to close.
4. The method according to claim 2, characterized in that: Each roller transmission line is provided with an electromagnetic blocker and a cargo detection sensor in a retracted state on both sides in the cargo transmission direction, respectively, to control the opening of the electric door and the rolling of the N roller transmission lines to receive the cargo transmitted from the N loading conveyor lines; After confirming that the goods have been loaded, controlling the electric door to close includes: Control the opening of electric doors; For each roller conveyor line, control the roller conveyor line to roll to receive the goods conveyed by the corresponding loading conveyor line; When the cargo detection sensor on the side away from the loading conveyor line detects a cargo signal, it is confirmed that the loading of the cargo is completed; Control the electromagnetic blockers respectively arranged on both sides of the cargo transmission direction to rise, and control the electric door to close.
5. The method according to claim 4, characterized in that The step of transferring the cargo in the carriage to the unloading conveying line comprises: Controlling the opening of the electric door and controlling the retraction of the electromagnetic blockers respectively arranged on both sides in the direction of cargo transmission; For each roller conveyor line, control the roller conveyor line to roll so as to convey goods to the corresponding unloading conveyor line; The cargo detection sensor on the side close to the loading conveyor line detects the cargo signal and confirms that the cargo signal disappears, confirming that the cargo has been unloaded; Control the electromagnetic blockers respectively arranged on both sides of the cargo transmission direction to rise, and control the electric door to close.
6. The method according to claim 1, characterized in that The cargo transfer vehicle further comprises a satellite positioning module and a multi-line laser radar arranged on the front of the cargo transfer vehicle. In the process of navigating to the loading position or navigating to the unloading position, When it is determined that the current location is outdoors, the satellite positioning module is activated to locate the current location information; When it is determined that the current location is indoors, a multi-line laser radar is used to collect an environmental image point cloud, and similarities between the collected environmental image point cloud and a plurality of preset standard environmental image point clouds are determined; The position information corresponding to the standard environment image point cloud with the highest similarity is determined as the current position information.
7. The method according to claim 1, characterized in that The cargo transfer vehicle further includes a camera and a millimeter wave radar, and in the process of navigating to the loading position or navigating to the unloading position, Receiving the environmental video in front of the cargo transfer vehicle collected by the camera, and determining the round-trip time from the millimeter wave radar transmitting the millimeter wave in front of the cargo transfer vehicle to receiving the reflected millimeter wave; When it is determined that there is an obstacle in front of the cargo transfer vehicle based on the environmental video or when it is determined that there is an obstacle in front of the cargo transfer vehicle based on the round trip time, a braking operation is performed.
8. The method according to claim 1, characterized in that The cargo transfer vehicle further includes a human-computer interaction module. Before receiving the cargo transfer instruction from the dispatch server, the method further includes: In response to a user inputting a power-on operation in the human-computer interaction module; Performing a self-check on the status of the cargo transfer vehicle; When an abnormality occurs in the cargo transfer vehicle, the human-computer interaction module is controlled to output abnormal prompt information.
9. A cargo transfer vehicle, characterized in that: The cargo transfer vehicle is used to execute the method described in any one of claims 1-8.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a main processor, prompt the main processor to implement the steps of the method according to any one of claims 1 to 8.