Multi-vehicle one-way channel scheduling method and system, terminal and medium

Abstract

The invention discloses a multi-vehicle one-way channel scheduling method and system, a terminal and a medium, and the method comprises the steps: carrying out the communication through a first LORA module of a first entrance decision-making device and a second LORA module of a second entrance decision-making device, and obtaining initial label information; if a first preset value or a second preset value exists in the initial label information, reading first label information of a first entrance decision maker, reading second label information of a second entrance decision maker, and controlling a vehicle to enter a channel from a second entrance based on the second label information and the first label information; and if the first preset value and the second preset value do not exist in the initial label information, reading the first label information of a first entrance decision maker, and controlling the vehicle to enter the channel from the first entrance based on the initial label information and the first label information. Through LORA module communication, the preset value in the label information is evaluated, the vehicles are dispatched to enter from a proper entrance, and orderly dispatching of multiple vehicles in a one-way channel is achieved.

Description

Technical Field

[0001] The present invention relates to the field of Internet technologies, and in particular, to a method, a system, a terminal, and a medium for scheduling one-way channels for multiple vehicles. Background Art

[0002] In the context of the rapid development of industrial automation and intelligent manufacturing, multi-vehicle systems are increasingly widely used, especially in scenarios such as warehousing, logistics, and production lines. To ensure the efficient and safe operation of these systems, communication and scheduling of multiple vehicles at one-way channels become key factors. However, traditional technical solutions have significant limitations in this regard. First, traditional vehicle communication technologies such as Wi-Fi, ZigBee, and Bluetooth are limited in their communication distance, which restricts their application in large-scale operation areas. Moreover, in a high-density vehicle environment, signal interference is likely to occur, resulting in communication delays or losses and affecting scheduling efficiency. Second, methods using infrared or ultrasonic sensors for environmental detection, although helpful for avoiding collisions and path planning, frequently lead to inaccurate scheduling due to limited detection ranges and susceptibility to environmental factors.

[0003] Therefore, the existing technologies still need to be improved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, a system, a terminal, and a medium for scheduling one-way channels for multiple vehicles, aiming to solve the problems of short communication distance, large signal interference, high power consumption, and low scheduling accuracy, so as to ensure the efficient and safe operation of a multi-robot system in a complex one-way channel environment.

[0005] To solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0006] In a first aspect, the present invention provides a method for scheduling one-way channels for multiple vehicles, where the method includes:

[0007] Communicate through a first LORA module of a first entrance decision maker and a second LORA module of a second entrance decision maker to obtain initial tag information;

[0008] If a first preset value or a second preset value exists in the initial tag information, read first tag information of the first entrance decision maker and second tag information of the second entrance decision maker, and control the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information;

[0009] If neither the first preset value nor the second preset value exists in the initial tag information, read the first tag information of the first entrance decision maker, and control the vehicle to enter the channel from the first entrance based on the initial tag information and the first tag information.

[0010] In one implementation, the initial tag information, the first tag information, and the second tag information all include the value of the first region and the value of the second region. The value of the first region is used to reflect the vehicle number, where the value of the vehicle number is not the first preset value; the value of the second region is used to reflect the vehicle permission, where the value of the second region includes the second preset value or the third preset value. The second preset value represents that the vehicle is waiting to enter the channel, and the third preset value represents that the vehicle can enter the channel.

[0011] In one implementation, if the first preset value or the second preset value exists in the initial tag information, read the first tag information of the first entrance decision maker, take the second tag information of the second entrance decision maker, and control the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information, including:

[0012] If the first preset value or the second preset value exists in the initial tag information, set the value of the second region in the second tag information to the second preset value, and set the value of the second region in the first tag information to the third preset value;

[0013] Read the value of the first region in the first tag information of the first entrance decision maker to obtain the first number value;

[0014] Use the first LORA module to send the first number value to the second LORA module, and save the first number value to the first register of the second entrance decision maker;

[0015] Read the value of the first region in the second tag information of the second entrance decision maker to obtain the second number value, and save the second number value to the second register of the second entrance decision maker;

[0016] Control the vehicle to enter the channel from the second entrance based on the value in the first register and the value in the second register.

[0017] In one implementation, the controlling the vehicle to enter the channel from the second entrance based on the value in the first register and the value in the second register includes:

[0018] If the value in the first register is equal to the value in the second register, set the value of the second region in the second tag information to the third preset value, set the value of the second region in the first tag information to the second preset value, and control the vehicle to enter the channel from the second entrance.

[0019] In one implementation, before using the first LORA module to send the first number value to the second LORA module, it includes:

[0020] Obtain the first number value in the first tag information of the first entrance decision maker;

[0021] Utilize the first LORA module to obtain the first number value.

[0022] In one implementation, the step of utilizing the first LORA module to obtain the first number value includes:

[0023] Select the first LORA module;

[0024] Send the first number value to the first LORA module through the MISO line, so that the first LORA module obtains the first number value.

[0025] In one implementation, the step of, if the first preset value and the second preset value do not exist in the initial tag information, reading the first tag information of the first entrance decision maker and controlling the vehicle to enter the channel from the first entrance based on the initial tag information and the first tag information includes:

[0026] If the first preset value and the second preset value do not exist in the initial tag information, then set the value of the second area in the first tag information to the second preset value;

[0027] Read the value of the first area in the initial tag information and save the value of the first area to the first register of the first entrance decision maker;

[0028] Read the value of the first area in the first tag information of the first entrance decision maker and save the value of the first area to the second register of the first entrance decision maker;

[0029] If the value in the first register is equal to the value in the second register, then set the value of the second area in the first tag information to the third preset value and control the vehicle to enter the channel from the first entrance.

[0030] In a second aspect, an embodiment of the present invention further provides a multi-vehicle one-way channel scheduling system, where the system includes:

[0031] An initial tag information acquisition module, configured to communicate through the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain initial tag information;

[0032] A second entrance channel entry module, configured to, if the first preset value or the second preset value exists in the initial tag information, read the first tag information of the first entrance decision maker, read the second tag information of the second entrance decision maker, and control the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information;

[0033] The first entrance access channel module is used to, if the first preset value and the second preset value do not exist in the initial tag information, read the first tag information of the first entrance decision maker, and based on the initial tag information and the first tag information, control the vehicle to enter the channel from the first entrance.

[0034] In a third aspect, an embodiment of the present invention further provides a terminal. The terminal includes a memory, a processor, and a multi-vehicle one-way channel scheduling program stored in the memory and executable on the processor. When the processor executes the multi-vehicle one-way channel scheduling program, the steps of the multi-vehicle one-way channel scheduling method according to any one of claims 1-7 are implemented.

[0035] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. A multi-vehicle one-way channel scheduling program is stored on the computer-readable storage medium. When the multi-vehicle one-way channel scheduling program is executed by a processor, the steps of the multi-vehicle one-way channel scheduling method according to any one of claims 1-7 are implemented.

[0036] Advantageous effects: The present invention provides a multi-vehicle one-way channel scheduling method. Compared with the prior art, the present invention first communicates through the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain the initial tag information, and utilizes the long-distance and low-power characteristics of the LORA technology to ensure stable data transmission in a large range, reduce signal interference and communication delay, and improve the reliability and efficiency of the system. Then, if the first preset value or the second preset value exists in the initial tag information, read the first tag information of the first entrance decision maker, read the second tag information of the second entrance decision maker, and based on the second tag information and the first tag information, control the vehicle to enter the channel from the second entrance; if the first preset value and the second preset value do not exist in the initial tag information, read the first tag information of the first entrance decision maker, and based on the initial tag information and the first tag information, control the vehicle to enter the channel from the first entrance. This step accurately identifies the status and number of vehicles at each entrance, ensuring that only when there are no vehicles entering at the other end of the channel is the current vehicle allowed to enter, thus effectively avoiding the congestion problem caused by two-way entry and improving the channel utilization rate and safety. The method proposed by the present invention not only improves the efficiency of vehicle management and scheduling through the LORA module communication between the first entrance decision maker and the second entrance decision maker, evaluating whether there are preset values in the initial tag information, and correspondingly reading and processing the tag information of each entrance decision maker, but also makes the entire process more automated and intelligent, reduces the possibility of human intervention, and improves the management efficiency and service quality. Description of the Drawings

[0037] Figure 1It is a flowchart of the specific implementation manner of the multi-vehicle one-way channel scheduling method provided by the embodiments of the present invention.

[0038] Figure 2 It is a flowchart of the preferred embodiment of the multi-vehicle one-way channel scheduling method provided by the embodiments of the present invention.

[0039] Figure 3 It is a principle block diagram of the communication between the LORA module and the MCU module provided by the embodiments of the present invention.

[0040] Figure 4 It is a flowchart of the vehicle number entry decision maker provided by the embodiments of the present invention.

[0041] Figure 5 It is a principle block diagram of the multi-vehicle one-way channel scheduling system provided by the embodiments of the present invention.

[0042] Figure 6 It is a principle block diagram of the internal structure of the terminal provided by the embodiments of the present invention. Specific implementation manner

[0043] To make the objectives, technical solutions and effects of the present invention clearer and more definite, the following further elaborates on the present invention by way of examples with reference to the accompanying drawings. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] In the context of the rapid development of industrial automation and intelligent manufacturing, the application of multi-vehicle systems is becoming increasingly widespread, especially in scenarios such as warehousing, logistics, and production lines. To ensure the efficient and safe operation of these systems, vehicle communication and scheduling have become key factors. However, traditional technical solutions have significant limitations in this regard. First, traditional vehicle communication technologies such as Wi-Fi and Bluetooth are limited in their communication distance, which restricts their application in large-scale operation areas. Moreover, in a high-density vehicle environment, signal interference is likely to occur, resulting in communication delays or losses and affecting scheduling efficiency. Second, ZigBee, as a low-power, low-data-rate wireless communication technology, although suitable for multi-vehicle communication in a small range, has a short communication distance and a complex network topology. Especially when there are many network nodes, it will reduce communication efficiency. In addition, the method of using infrared or ultrasonic sensors for environmental detection, although helpful for avoiding collisions and path planning, frequently leads to inaccurate scheduling due to the limited detection range and susceptibility to environmental factors.

[0045] To solve the above problems, this embodiment provides a multi-vehicle one-way channel scheduling method. Specifically, in implementation, this embodiment first communicates through the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain initial tag information, ensuring stable data transmission even in a large range, effectively reducing the possibility of signal interference, and improving the reliability and efficiency of communication. Then, if there is a first preset value or a second preset value in the initial tag information, read the first tag information of the first entrance decision maker and the second tag information of the second entrance decision maker, and based on the second tag information and the first tag information, control the vehicle to enter the channel from the second entrance; if there is no first preset value and second preset value in the initial tag information, read the first tag information of the first entrance decision maker, and based on the initial tag information and the first tag information, control the vehicle to enter the channel from the first entrance. This step accurately identifies the permissions and numbers of vehicles at each entrance, ensuring that only when there are no vehicles entering from the other end of the channel is the current vehicle allowed to enter, thus effectively avoiding the congestion problem caused by two-way entry and improving the channel utilization rate and safety. The method proposed in the present invention communicates through the LORA modules of the first entrance decision maker and the second entrance decision maker, evaluates whether there are preset values in the initial tag information, and correspondingly reads and processes the tag information of each entrance decision maker, not only solving the communication limitations and energy consumption problems in the traditional technology, but also greatly enhancing the scheduling ability and safety of the multi-vehicle system in complex environments. It has the characteristics of long distance, low power consumption, and strong anti-interference ability, is suitable for large-scale automation scenarios that require long-term stable operation, significantly improves the working efficiency and reliability of the multi-vehicle system, and reduces the need for human intervention.

[0046] For example, assume that a large logistics center wishes to introduce a more precise and efficient one-way channel scheduling method for its multi-vehicle system in the warehouse. The method proposed by the present invention can be adopted. First, the first LORA module of the first entrance decision maker communicates with the second LORA module of the second entrance decision maker to obtain initial tag information, ensuring stable data transmission even over a large area, effectively reducing the possibility of signal interference, and improving the reliability and efficiency of communication. This process provides basic data support for the entire scheduling system, ensuring information synchronization and coordinated operation among various entrances, enabling the system to operate efficiently in a complex environment. Next, if there is a first preset value or a second preset value in the initial tag information, the first tag information of the first entrance decision maker and the second tag information of the second entrance decision maker will be read, and based on this information, the vehicle will be controlled to enter the channel from the second entrance. The function of this step is to reasonably arrange the entry and exit of vehicles, enhance the flexibility and adaptability of the system, and reduce the collision risk caused by misjudgment. If neither the first preset value nor the second preset value exists in the initial tag information, the first tag information of the first entrance decision maker will be read, and based on the initial tag information and the first tag information, the vehicle will be controlled to enter the channel from the first entrance. This step accurately identifies the authority and number of vehicles at each entrance, ensuring that only when there is no vehicle entering at the other end of the channel is the current vehicle allowed to enter, thus effectively avoiding the congestion problem caused by two-way entry, and improving the channel utilization rate and safety. In summary, through the method proposed by the present invention, the logistics center can significantly improve the scheduling efficiency and safety of the multi-vehicle system, while also reducing the need for human intervention. This not only improves the overall efficiency of warehouse management, but also provides strong technical support for the intelligent and automated transformation of the logistics industry, helping to promote the development of modern logistics.

[0047] The multi-vehicle one-way channel scheduling method provided in this embodiment can be applied to intelligent terminals, such as Figure 1 as shown in

[0048] Step S100: Communicate through the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain initial tag information.

[0049] In this embodiment, first, communication is to be carried out between the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain initial tag information. The initial tag information includes the value of the first area and the value of the second area. The value of the first area is used to reflect the vehicle number, where the value of the vehicle number is not the first preset value; the value of the second area is used to reflect the vehicle permission, where the value of the second area includes the second preset value or the third preset value. The second preset value represents that the vehicle is waiting to enter the channel, and the third preset value represents that the vehicle can enter the channel. By carrying out communication between the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker, initial tag information is obtained. The initial tag information is sent by the second LORA module of the second entrance decision maker to the first LORA module of the first entrance decision maker. After writing a value in the first area of the second tag information of the second entrance decision maker, the value in the first area of the second entrance decision maker will be synchronized to the first LORA module of the first entrance decision maker through the second LORA module. Similarly, after writing a value in the first area of the first tag information of the first entrance decision maker, the value in the first area of the first entrance decision maker will be synchronized to the second LORA module of the second entrance decision maker through the first LORA module. Therefore, through the initial tag information, it can be further determined whether there is a vehicle entering or waiting to enter at the second entrance, and then control whether the vehicle enters the channel from the second entrance or the first entrance. For example, if the first preset value or the second preset value exists in the initial tag information, that is, the value of the first area is the first preset value or the value of the second area is the second preset value. It can be known that when the value of the first area is the first preset value, it represents that there is no vehicle because the first preset value is not the vehicle number; when the value of the second area is the second preset value, it represents that the vehicle is waiting to enter the channel. These two situations both indicate that there is no vehicle entering the channel at the second entrance. At this time, the vehicle at the first entrance is entering the channel, and the vehicle at the second entrance will not be allowed to enter until the vehicle at the first entrance has finished passing. For example, if the first preset value and the second preset value do not exist in the initial tag information, that is, the value of the first area is not the first preset value and the value of the second area is the third preset value. It can be known that when the value of the first area is not the first preset value, it represents that there is a vehicle; when the value of the second area is the third preset value, it represents that the vehicle can enter the channel. This situation indicates that there is a vehicle entering the channel at the second entrance. At this time, the vehicle at the second entrance is entering the channel, and the vehicle at the first entrance will not be allowed to enter until the vehicle at the second entrance has finished passing.In summary, the present invention communicates through the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain initial tag information, ensuring stable data transmission even in a large range, effectively reducing the possibility of signal interference, and improving the reliability and efficiency of communication. This process provides basic data support for the entire scheduling system, ensures information synchronization and coordinated operations between each entrance, and enables the system to operate efficiently in a complex environment.

[0050] Step S200: If there is a first preset value or a second preset value in the initial tag information, read the first tag information of the first entrance decision maker and the second tag information of the second entrance decision maker, and based on the second tag information and the first tag information, control the vehicle to enter the channel from the second entrance.

[0051] In this embodiment, based on the above content, if there is a first preset value or a second preset value in the initial tag information, that is, the value of the first area is the first preset value or the value of the second area is the second preset value. It can be known that when the value of the first area is the first preset value, it means there is no vehicle because the first preset value is not the vehicle number; when the value of the second area is the second preset value, it means the vehicle is waiting to enter the channel. In both cases, it indicates that no vehicle enters the channel from the second entrance. At this time, the vehicle from the first entrance is entering the channel. After the vehicle from the first entrance has finished passing through, the vehicle from the second entrance can enter. At this time, the vehicle from the first entrance is entering the channel. When the vehicle from the first entrance enters the channel and reaches the first entrance, the RFID reader / writer module carried on the vehicle starts to work and writes the vehicle number of the vehicle entering the channel at this time into the first area of the first tag information. Then, the first MCU module of the first entrance decision maker reads the first tag information of the first entrance decision maker; then, when the vehicle walks from the first entrance to the second entrance, the second MCU module of the second entrance decision maker reads the second tag information of the second entrance decision maker; then, based on the second tag information and the first tag information, control the vehicle to enter the channel from the second entrance.

[0052] In one implementation, both the first tag information and the second tag information include the values of a first area and a second area. The value of the first area is used to reflect the vehicle number, where the value of the vehicle number is not a first preset value. The value of the second area is used to reflect the vehicle permission, where the value of the second area includes a second preset value or a third preset value. The second preset value represents that the vehicle is waiting to enter the channel, and the third preset value represents that the vehicle can enter the channel. In one implementation, the initial tag information, the first tag information, and the second tag information are stored using an EM4325 chip. That is, the first entrance decision-making device includes a first LORA module and a first EM4325 chip, and the second entrance decision-making device includes a second LORA module and a second EM4325 chip. Both the first EM4325 chip and the second EM4325 chip include two areas, a first area and a second area. For example, the first area is 0X2D and the second area is 0X2C. The value of the first area 0X2D is used to reflect the vehicle number, and the value of the vehicle number is not a first preset value. For example, the first preset value is 0. The value of the second area 0X2C is used to reflect the vehicle permission, and the value of the second area 0X2C includes a second preset value or a third preset value. The second preset value represents that the vehicle is waiting to enter the channel, and the third preset value represents that the vehicle can enter the channel. For example, the second preset value is 0, representing that the vehicle is waiting to enter the channel, and the third preset value is 1, representing that the vehicle can enter the channel. The storage of the initial tag information is not limited to the EM4325 chip and can also be other compatible RFID chips such as NXP MIFARE DESFire, Texas Instruments RF430FRL152H, and STMicroelectronics ST25DV. In addition, the first entrance decision-making device includes a first MCU module, and the second entrance decision-making device includes a second MCU module. The first MCU module and the second MCU module are used to read or write data in specific areas (such as the 0X2C and 0X2D areas). An energy supply layer composed of an 1800 mAh polymer battery powers the entire decision-making device and can maintain normal operation for three months.

[0053] Specifically, step S200 includes the following steps:

[0054] Step S201: If there is a first preset value or a second preset value in the initial tag information, set the value of the second area in the second tag information to the second preset value, and set the value of the second area in the first tag information to the third preset value.

[0055] Step S202: Read the value of the first area in the first tag information of the first entrance decision-making device to obtain a first number value.

[0056] Step S203: Send the first number value to the second LORA module using the first LORA module, and save the first number value in the first register of the second entry decision maker;

[0057] Step S204: Read the value of the first area in the second tag information of the second entry decision maker to obtain a second number value, and save the second number value in the second register of the second entry decision maker;

[0058] Step S205: Control the vehicle to enter the channel from the second entry based on the value in the first register and the value in the second register.

[0059] In one implementation, as Figure 2 shown, if there is a first preset value or a second preset value in the initial tag information, that is, the value of the first area 0X2D is the first preset value or the value of the second area 0X2C is the second preset value. It can be known that when the value of the first area 0X2D is the first preset value, that is, 0, it means there is no vehicle because the first preset value is not the vehicle number; when the value of the second area 0X2C is the second preset value, that is, 0, it means the vehicle is waiting to enter the channel. Both of these situations indicate that no vehicle enters the channel from the second entry. At this time, the vehicle at the first entry is entering the channel. It is not until the vehicle at the first entry has finished passing that the vehicle at the second entry can enter. Therefore, the value of the second area in the second tag information needs to be set to the second preset value, and the value of the second area in the first tag information needs to be set to the third preset value, indicating that the vehicle at the second entry cannot enter the channel at this time, and the vehicle at the first entry can enter the channel. At this time, the vehicle at the first entry is entering the channel. When the vehicle at the first entry enters the channel and arrives at the first entry, the RFID reader / writer module carried on the vehicle starts to work, and writes the vehicle number of the vehicle entering the channel at this time into the first area of the first tag information. Then, the first MCU module reads the value of the first area in the first tag information of the first entry decision maker to obtain the first number value, that is, reads the value of the first area 0X2D of the first EM4325 chip, which is the vehicle number of the vehicle currently driving in the channel, and saves this vehicle number in the second register of the first MCU module of the first entry decision maker, such as the Y2 register. Then, the first LORA module will obtain the saved first number value from the second register of the first MCU module of the first entry decision maker, that is, the Y2 register, through the SPI interface. When the first LORA module needs to obtain the first number value from the first MCU module, as Figure 3As shown, first, the first MCU module of the first entrance decision maker is selected through the CS line. Then, a clock signal is sent through the SCLK line, and the first number value from the first MCU module of the first entrance decision maker is received through the MISO line. When the first LORA module acts as the host, when data or instructions need to be sent to the first MCU module, the first LORA module sends data or instructions to the first MCU module through the MOSI line under the control of the clock signal (SCLK) it provides. This two-way data transmission mechanism (through MISO and MOSI) allows the SPI bus to efficiently achieve two-way data exchange on a single communication link, enabling devices such as LORA modules and MCU modules to cooperate closely to complete complex tasks such as reading, processing, and wireless transmission of vehicle numbers. After the first LORA module obtains the saved number value from the second register of the first MCU module of the first entrance decision maker through the SPI interface, the obtained first number value is sent to the second LORA module by wireless communication. Next, after the second LORA module receives the first number value sent by the first LORA module, it passes the first number value to the second MCU module of the second entrance decision maker. The second MCU module of the second entrance decision maker saves the received first number value in the first register of the second MCU module, such as the Y1 register. Then, when the vehicle enters from the first entrance and reaches the second entrance, at this time, when the vehicle arrives at the second entrance, the RFID reader / writer module on the vehicle starts to work, writes the vehicle number of the vehicle at this time into the first area of the second tag information. Then, the value in the first area of the second tag information of the second entrance decision maker is read through the second MCU module to obtain the second number value, that is, the vehicle number of the vehicle currently arriving at the second entrance. The second number value is saved in the second register of the second MCU module of the second entrance decision maker, and the value in the first area of the second tag information of the second entrance decision maker is cleared; if the value in the first register is equal to the value in the second register, it means that the vehicle entering from the first entrance has reached the second entrance, indicating that this vehicle has completed its journey, that is, it means that there is no vehicle entering and driving from the first entrance in the channel. At this time, the value in the second area of the second tag information can be set to the third preset value, the value in the second area of the first tag information can be set to the second preset value, and the vehicle is controlled to enter from the second entrance, indicating that all vehicles entering from the first entrance have completed their journeys and the vehicle can be controlled to enter and drive from the second entrance.

[0060] In one implementation, when the vehicle is running in the channel, the process of entering the vehicle number into the decision maker is as follows: As Figure 4As shown in the figure, when the vehicle enters the channel from the first entrance and leaves the channel from the second entrance, when the vehicle enters the channel from the first entrance, that is, when it reaches the first decision maker, the first MCU module reads the first tag information of the first entrance decision maker. If there is a third preset value in the first tag information of the first entrance decision maker, it means that the vehicle can enter the channel at this time. The RFID reader / writer module carried on the vehicle starts to work and writes the vehicle number of the vehicle at this time into the first area of the first tag information, that is, into the first area of the first EM4325 chip of the first entrance decision maker. When the vehicle reaches the second entrance, that is, when it reaches the second decision maker, the RFID reader / writer module carried on the vehicle starts to work and writes the vehicle number of the vehicle at this time into the first area of the second tag information, that is, into the first area of the second EM4325 chip of the second entrance decision maker. If there is a second preset value in the first tag information of the first entrance decision maker, that is, the vehicle waits to enter the channel, and at this time, the vehicle is prohibited from entering the channel from the first entrance. When the vehicle enters the channel from the second entrance and leaves the channel from the first entrance, when the vehicle enters the channel from the second entrance, that is, when it reaches the second decision maker, the second MCU module reads the first tag information of the second entrance decision maker. If there is a third preset value in the first tag information of the second entrance decision maker, it means that the vehicle can enter the channel. The RFID reader / writer module carried on the vehicle starts to work and writes the vehicle number of the vehicle at this time into the first area of the second tag information, that is, into the first area of the second EM4325 chip of the second entrance decision maker. When the vehicle reaches the first entrance, that is, when it reaches the first decision maker, the RFID reader / writer module carried on the vehicle starts to work and writes the vehicle number of the vehicle at this time into the first area of the first tag information, that is, into the first area of the first EM4325 chip of the first entrance decision maker. If there is a second preset value in the first tag information of the second entrance decision maker, that is, the vehicle waits to enter the channel, and at this time, the vehicle is prohibited from entering the channel from the second entrance.

[0061] Step S300: If the first preset value and the second preset value do not exist in the initial tag information, read the first tag information of the first entrance decision maker, and based on the initial tag information and the first tag information, control the vehicle to enter the channel from the first entrance.

[0062] In this embodiment, if the first preset value and the second preset value do not exist in the initial tag information, that is, the value of the first area 0X2D is not the first preset value, and the value of the second area 0X2C is the third preset value, it can be known that when the value of the first area 0X2D is not the first preset value, that is, not 0, it means there is a vehicle; when the value of the second area 0X2C is the third preset value, that is, 1, it means the vehicle can enter the channel. This situation indicates that a vehicle at the second entrance is entering the channel. At this time, it is the vehicle at the second entrance that is entering the channel. After the vehicle at the second entrance has completed passing through, then the vehicle at the first entrance can enter. At this time, because it is the vehicle at the second entrance that is entering the channel, since the LORA module of the first entrance decision maker and the LORA module of the second entrance decision maker are in communication and they mutually and real-time obtain the vehicle numbers of the vehicles driving in the channel, and since the initial tag information has been transmitted from the LORA module of the second entrance decision maker to the LORA module of the first entrance decision maker, and the initial tag information includes the vehicle numbers of the vehicles driving in the channel, therefore, at this time, the first entrance decision maker has saved the vehicle numbers of the vehicles driving in the channel. Thus, when the vehicle driving in the channel reaches the first entrance, the first MCU module reads the first tag information of the first entrance decision maker, and then, based on the initial tag information and the first tag information, controls the vehicle to enter the channel from the first entrance.

[0063] Specifically, step S300 includes the following steps:

[0064] Step S301, if the first preset value and the second preset value do not exist in the initial tag information, then set the value of the second area in the first tag information to the second preset value;

[0065] Step S302, read the value of the first area in the initial tag information and save the value of the first area to the first register of the first entrance decision maker;

[0066] Step S303, read the value of the first area in the first tag information of the first entrance decision maker and save the value of the first area to the second register of the first entrance decision maker;

[0067] Step S304, if the value in the first register is equal to the value in the second register, then set the value of the second area in the first tag information to the third preset value and control the vehicle to enter the channel from the first entrance.

[0068] In one implementation, such as Figure 2As shown, if the first preset value and the second preset value do not exist in the initial tag information, that is, the value of the first area 0X2D is not the first preset value, and the value of the second area 0X2C is the third preset value. It can be known that when the value of the first area 0X2D is not the first preset value, that is, not 0, it represents that there is a vehicle; when the value of the second area 0X2C is the third preset value, that is, 1, it represents that the vehicle can enter the channel. This situation indicates that a vehicle at the second entrance has entered the channel. At this time, it is the vehicle at the second entrance that is entering the channel. It is necessary to wait until the vehicle at the second entrance has completed passing before allowing the vehicle at the first entrance to enter. Therefore, the value of the second area in the first tag information should be set to the second preset value, representing that the vehicle at the first entrance cannot enter the channel at this time. At this time, because it is the vehicle at the second entrance that is entering the channel, and the LORA module of the first entrance decision maker and the LORA module of the second entrance decision maker are in communication, and they mutually and real-time obtain the number of the vehicle currently traveling in the channel. And since the initial tag information has been transmitted from the LORA module of the second entrance decision maker to the LORA module of the first entrance decision maker, the initial tag information includes the number of the vehicle currently traveling in the channel. Therefore, first, the first MCU module reads the value of the first area in the initial tag information and saves the value of the first area to the first register of the first MCU module of the first entrance decision maker, that is, saves the vehicle number of the vehicle currently traveling in the channel; then, when the vehicle traveling in the channel reaches the first entrance, the RF ID reader / writer module carried on the vehicle starts to work, writes the vehicle number of the vehicle entering the channel at this time into the first area of the first tag information, and then the first MCU module reads the value of the first area in the first tag information of the first entrance decision maker and saves the value of the first area to the second register of the first MCU module of the first entrance decision maker, that is, saves the vehicle number of the vehicle currently traveling to the first entrance, clears the value of the first area in the first tag information of the first entrance decision maker. If the value in the first register of the first entrance decision maker is equal to the value in the second register of the first entrance decision maker, it means that the vehicle entering the channel from the second entrance has reached the first entrance, indicating that the vehicle has completed traveling, that is, it represents that there is no vehicle entering and traveling from the second entrance in the channel. At this time, the value of the second area in the second tag information can be set to the second preset value, the value of the second area in the first tag information can be set to the third preset value, and the vehicle can be controlled to enter from the first entrance, indicating that all the vehicles entering from the second entrance have completed traveling, and the vehicle can be controlled to enter and travel from the first entrance.

[0069] As Figure 5As shown in the figure, this embodiment also provides a multi-vehicle one-way channel scheduling system based on RFID and LORA. The system includes: an initial tag information acquisition module 10, a second entrance access channel module 20, and a first entrance access channel module 30. Specifically, the initial tag information acquisition module 10 is configured to communicate through the first LORA module of the first entrance decision maker and the second LORA module of the second entrance decision maker to obtain initial tag information. The second entrance access channel module 20 is configured to, if a first preset value or a second preset value exists in the initial tag information, read the first tag information of the first entrance decision maker, read the second tag information of the second entrance decision maker, and control the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information. The first entrance access channel module 30 is configured to, if neither the first preset value nor the second preset value exists in the initial tag information, read the first tag information of the first entrance decision maker, and control the vehicle to enter the channel from the first entrance based on the initial tag information and the first tag information.

[0070] In one implementation, the initial tag information, the first tag information, and the second tag information all include values of a first area and values of a second area. The values of the first area are used to reflect the vehicle number, where the value of the vehicle number is not the first preset value. The values of the second area are used to reflect the vehicle permission, where the values of the second area include a second preset value or a third preset value. The second preset value represents that the vehicle is waiting to enter the channel, and the third preset value represents that the vehicle can enter the channel.

[0071] In one implementation, the second entrance access channel module 20 includes:

[0072] A preset value setting first unit, configured to, if a first preset value or a second preset value exists in the initial tag information, set the value of the second area in the second tag information to the second preset value, and set the value of the second area in the first tag information to the third preset value;

[0073] A first number value acquisition unit, configured to read the value of the first area in the first tag information of the first entrance decision maker to obtain a first number value;

[0074] A first number value sending unit, configured to send the first number value to the second LORA module using the first LORA module and save the first number value to the first register of the second entrance decision maker;

[0075] A second number value acquisition unit, configured to read the value of the first area in the second tag information of the second entrance decision maker to obtain a second number value, and save the second number value to the second register of the second entrance decision maker;

[0076] A second entrance access channel unit for controlling a vehicle to enter a channel from a second entrance based on values in the first register and values in the second register.

[0077] The second entrance access channel unit includes:

[0078] A second entrance access channel subunit for, if the value in the first register is equal to the value in the second register, setting the value of a second region in second tag information to a third preset value, setting the value of the second region in first tag information to a second preset value, and controlling the vehicle to enter the channel from the second entrance.

[0079] The first number value sending unit previously included:

[0080] A first number value obtaining first subunit for obtaining a first number value in first tag information of a first entrance decision maker;

[0081] A first number value obtaining second subunit for obtaining the first number value by using the first LORA module.

[0082] The first number value obtaining second subunit includes:

[0083] A first LORA module selection subunit for selecting the first LORA module;

[0084] A first number value obtaining third subunit for sending a first number value to the first LORA module via a MISO line such that the first LORA module obtains the first number value.

[0085] In one implementation, the first entrance access channel module 30 includes:

[0086] A preset value setting second unit for, if the first preset value and the second preset value do not exist in the initial tag information, setting the value of a second region in the first tag information to the second preset value;

[0087] An initial tag information first region value reading unit for reading the value of a first region in the initial tag information and saving the value of the first region to a first register of a first entrance decision maker;

[0088] A first tag information first region value reading unit for reading the value of a first region in first tag information of a first entrance decision maker and saving the value of the first region to a second register of the first entrance decision maker;

[0089] The first entrance accesses the channel unit, which is used to set the value of the second area in the first tag information to a third preset value if the value in the first register is equal to the value in the second register, and controls the vehicle to enter the channel from the first entrance.

[0090] In the multi-vehicle one-way channel scheduling system of this embodiment, the working principles of each module are the same as those of each step in the above method embodiment, and will not be elaborated here.

[0091] Based on the above embodiments, the present invention also provides a terminal. The principle block diagram of the terminal can be as Figure 6 shown. The terminal may include one or more processors 100 ( Figure 5 only one is shown in the figure), a memory 101, and a computer program 102 stored in the memory 101 and executable on one or more processors 100, for example, a multi-vehicle one-way channel scheduling program. When one or more processors 100 execute the computer program 102, each step in the multi-vehicle one-way channel scheduling method embodiment can be implemented. Alternatively, when one or more processors 100 execute the computer program 102, the functions of each module / unit in the multi-vehicle one-way channel scheduling method embodiment can be implemented, which is not limited here.

[0092] In one embodiment, the so-called processor 100 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0093] In one embodiment, the memory 101 may be an internal storage unit of the electronic device, such as the hard disk or memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk equipped on the electronic device, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 101 may also include both the internal storage unit and the external storage device of the electronic device. The memory 101 is used to store computer programs and other programs and data required by the terminal. The memory 101 may also be used to temporarily store the data that has been output or will be output.

[0094] Those skilled in the art can understand that Figure 6 the principle block diagram shown is only a block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the terminal to which the solution of the present invention is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0095] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above methods. Among them, any reference to the memory, storage, operation database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memories. Non-volatile memories may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-vehicle one-way channel scheduling method, characterized in that: The method comprises: The first LoRa module of the first entry decision maker communicates with the second LoRa module of the second entry decision maker to obtain initial tag information; If the initial tag information contains the first preset value or the second preset value, read the first tag information of the first entrance decision maker, read the second tag information of the second entrance decision maker, and control the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information; If the first preset value and the second preset value do not exist in the initial tag information, the first tag information of the first entrance decision maker is read, and based on the initial tag information and the first tag information, the vehicle is controlled to enter the channel from the first entrance.

2. The multi-vehicle one-way channel scheduling method according to claim 1 is characterized in that: The initial label information, the first label information and the second label information all include a value of a first area and a value of a second area, the value of the first area is used to reflect the vehicle number, wherein the value of the vehicle number is not a first preset value; the value of the second area is used to reflect the vehicle authority, wherein the value of the second area includes a second preset value or a third preset value, the second preset value represents that the vehicle is waiting to enter the channel, and the third preset value represents that the vehicle can enter the channel.

3. The multi-vehicle one-way channel scheduling method according to claim 2 is characterized in that: If the initial tag information contains the first preset value or the second preset value, reading the first tag information of the first entrance decision maker, reading the second tag information of the second entrance decision maker, and controlling the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information, including: If the initial label information contains the first preset value or the second preset value, the value of the second area in the second label information is set to the second preset value, and the value of the second area in the first label information is set to the third preset value; Reading a value of a first region in first tag information of a first entry decision maker to obtain a first number value; Using the first LoRa module to send the first number value to the second LoRa module, and saving the first number value to the first register of the second entry decision maker; Reading a value of a first region in second tag information of a second entry decision maker to obtain a second number value, and saving the second number value to a second register of the second entry decision maker; Based on the value in the first register and the value in the second register, the vehicle is controlled to enter the passage from the second entrance.

4. The multi-vehicle one-way channel scheduling method according to claim 3 is characterized in that: The controlling the vehicle to enter the passage from the second entrance based on the value in the first register and the value in the second register comprises: If the value in the first register is equal to the value in the second register, the value of the second area in the second tag information is set to the third preset value, the value of the second area in the first tag information is set to the second preset value, and the vehicle is controlled to enter the channel from the second entrance.

5. The multi-vehicle one-way channel scheduling method according to claim 4 is characterized in that: The method of using the first LoRa module to send the first number value to the second LoRa module includes: Obtain a first number value in the first label information of the first inlet decision maker; The first number value is obtained by using the first LORA module.

6. The multi-vehicle one-way channel scheduling method according to claim 5 is characterized in that: The using the first LORA module to obtain the first number value includes: Select the first LORA module; The first number value is sent to the first LORA module through the MISO line, so that the first LORA module obtains the first number value.

7. The multi-vehicle one-way channel scheduling method according to claim 2 is characterized in that: If the first preset value and the second preset value do not exist in the initial tag information, reading the first tag information of the first entrance decision maker, and controlling the vehicle to enter the channel from the first entrance based on the initial tag information and the first tag information, includes: If the first preset value and the second preset value do not exist in the initial tag information, setting the value of the second area in the first tag information to the second preset value; Reading a value of a first region in the initial tag information, and saving the value of the first region to a first register of a first entry decision maker; Reading a value of a first region in first tag information of a first inlet decision maker, and saving the value of the first region to a second register of the first inlet decision maker; If the value in the first register is equal to the value in the second register, the value of the second area in the first tag information is set to a third preset value, and the vehicle is controlled to enter the channel from the first entrance.

8. A multi-vehicle one-way channel dispatching system, characterized in that: The system comprises: An initial tag information acquisition module is used to communicate with a second LoRa module of a second entry decision maker through a first LoRa module of a first entry decision maker to obtain initial tag information; A second entrance channel entry module, configured to read the first tag information of the first entrance decision maker and the second tag information of the second entrance decision maker if the first preset value or the second preset value exists in the initial tag information, and control the vehicle to enter the channel from the second entrance based on the second tag information and the first tag information; The first entrance channel entry module is used to read the first label information of the first entrance decision maker if the first preset value and the second preset value do not exist in the initial label information, and control the vehicle to enter the channel from the first entrance based on the initial label information and the first label information.

9. A terminal, characterized in that: The terminal includes a memory, a processor, and a multi-vehicle one-way channel scheduling program stored in the memory and executable on the processor. When the processor executes the multi-vehicle one-way channel scheduling program, the steps of the multi-vehicle one-way channel scheduling method as described in any one of claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a multi-vehicle one-way channel scheduling program, and when the multi-vehicle one-way channel scheduling program is executed by the processor, the steps of the multi-vehicle one-way channel scheduling method as described in any one of claims 1-7 are implemented.

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