A Method and System for Vehicle Identification and Cooperative Scheduling Based on UWB Spatiotemporal Awareness

Abstract

This invention discloses a vehicle identification and collaborative scheduling method and system based on UWB spatiotemporal awareness. The method involves acquiring the license plate information of each working vehicle and its relative position to the working equipment through a first base station and a first edge computer located at the working equipment. It also acquires the license plate information and spatial coordinates of each working vehicle, as well as the number and spatial coordinates of each working equipment, through a second base station and a second edge computer located at a predetermined position in the depot. The depot management system then filters out working vehicles located in the target track based on the spatial coordinates of the working equipment, working vehicles, and the track's working area. The system determines the work sequence based on the relative positional relationships between each working vehicle and the working equipment in the target track and displays the sequence on the working terminal located on the working equipment. Therefore, this invention improves the accuracy and stability of license plate recognition and positioning, enables collaborative vehicle scheduling, and thus enhances depot operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and more specifically, to a method and system for vehicle identification and collaborative scheduling based on UWB spatiotemporal awareness. Background Technology

[0002] In the operation of modern logistics parks and port terminals, the efficiency of collaboration between operating vehicles (including container trucks, tractors, etc.) and operating equipment such as reach stackers, gantry cranes, forklifts, stackers, AGVs (Automated Guided Vehicles), and container lifting robots directly determines the cargo turnover speed. Ensuring efficient collaboration between operating vehicles and operating equipment is the core of improving operational efficiency. To this end, it is necessary to identify the license plate numbers of operating vehicles in order to confirm cargo information and match operating instructions.

[0003] Currently, the station mainly obtains the license plate numbers of operating vehicles through three methods: visual recognition, radio frequency identification (RFID), and manual recording. Among them, the visual recognition solution uses OCR (Optical Character Recognition) technology for identification, but its stability is poor due to factors such as the driving status of the operating vehicle, the camera installation angle, and the on-site lighting conditions. The RFID solution uses RFID (Radio Frequency Identification) technology for identification, but the identification distance is limited and signal breaks are prone to occur in dynamic operating scenarios. Manual recording is inefficient and difficult to adapt to the high-frequency operation rhythm. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vehicle identification and collaborative scheduling method and system based on UWB spatiotemporal perception to improve the accuracy and stability of license plate number recognition and positioning, thereby improving the efficiency of station operations. Among them, ultra-wideband (UWB) technology is only one specific implementation method. Other technical solutions that obtain identification codes bound to operating entities (including but not limited to container transport vehicles and warehousing and logistics equipment) through radio frequency technology are all within the protection scope of this application.

[0005] In a first aspect, embodiments of the present invention provide a vehicle identification and collaborative scheduling system based on UWB spatiotemporal awareness, the system comprising:

[0006] The work vehicle tag is attached to the work vehicle and is used to transmit a UWB signal containing its own identifier;

[0007] The first base station is installed on the work equipment and is used to communicate with the work vehicle tags based on UWB technology to obtain the identification of each work vehicle tag and the first ranging data.

[0008] The second base station is set at a predetermined location in the site and is used to communicate with the tags of the work vehicles based on UWB technology to obtain the second ranging data corresponding to each of the work vehicle tags, and to communicate with the first base station based on UWB technology to obtain the third ranging data corresponding to each of the first base stations.

[0009] A first edge computer, mounted on the work equipment, is used to determine the license plate information corresponding to each work vehicle based on a pre-stored first binding relationship database and the identifier of each work vehicle tag, and to determine the relative positional relationship between each work vehicle and the work equipment based on each first ranging data. The first binding relationship database represents the correspondence between the identifier of the work vehicle tag and the license plate information of the work vehicle.

[0010] The second edge computer, located on the second base station, is used to determine the license plate information corresponding to each of the work vehicles based on the pre-stored first binding relationship database and the identifiers of each of the work vehicle tags; to determine the spatial coordinates of each of the work vehicles within the site based on each of the second ranging data; to determine the number corresponding to each of the work equipment based on the pre-stored second binding relationship database and the identifiers of each of the first base stations; and to determine the spatial coordinates of each of the work equipment within the site based on each of the third ranging data. The second binding relationship database represents the correspondence between the identifier of the first base station and the number of the work equipment.

[0011] The station management system is used to filter out the work vehicles located in the target track based on the spatial coordinates of each work vehicle, each work equipment and the spatial coordinates of the pre-stored track work area, sort each work vehicle according to the relative positional relationship between each work vehicle and the work equipment in the target track, and determine the work sequence of the target work equipment located in the target track. The work sequence is used to characterize the work order of work vehicles that meet the preset positional relationship.

[0012] The operation terminal is located in the cab of the operation equipment and is used to display the license plate information and location information of each operation vehicle in the operation sequence.

[0013] Optionally, the first base station is used to communicate with the work vehicle tag using a time division multiple access and frequency hopping spread spectrum hybrid scheduling method, and the second base station is used to communicate with the work vehicle tag and the first base station using a time division multiple access and frequency hopping spread spectrum hybrid scheduling method;

[0014] The first ranging data and the second ranging data are corrected using an environmental compensation algorithm, which is determined based on the current environment of the base station.

[0015] Optionally, the first edge computer is further configured to:

[0016] Obtain recorded values, which include the recorded relative positional relationships between each of the work vehicles and the work equipment, as well as the corresponding timestamps;

[0017] Calculate the speed and acceleration information of each of the operating vehicles based on the recorded values;

[0018] Based on the speed and acceleration information of each of the aforementioned work vehicles, determine whether there is a risk of collision for each of the aforementioned work vehicles;

[0019] In response to the judgment result indicating that there is a collision risk of the work vehicle, an alarm message is sent to the work terminal and the site management system.

[0020] Optionally, the first edge computer is further configured to store the license plate information and location information of each of the operating vehicles in response to a communication anomaly between the first edge computer and the station management system; the second edge computer is further configured to store the license plate information and location information of each of the operating vehicles, as well as the number and location information of each of the operating devices, in response to a communication anomaly between the second edge computer and the station management system.

[0021] Optionally, the communication process between the first base station and the tag on the work vehicle includes:

[0022] The tag on the work vehicle sends a first ranging message to the first base station;

[0023] In response to receiving the first ranging message, the first base station sends a second ranging message to the tag of the work vehicle after a first delay time;

[0024] In response to receiving the second ranging message, the tag of the work vehicle sends a third ranging message to the first base station after a second delay time;

[0025] The first ranging data includes: the time interval between the operation vehicle tag sending the first ranging message and receiving the second ranging message, the time interval between the first base station sending the second ranging message and receiving the third ranging message, the first delay time, the second delay time, and the signal transmission speed.

[0026] Optionally, the relative positional relationship represents the distance between the operating vehicle and the operating equipment, and the site management system is further used for:

[0027] By analyzing the real-time movement direction and spatial coordinates of each working vehicle in the target track, target working vehicles that have not completed their work are selected. The target working vehicles are arranged in ascending order of their distance from the target working equipment, and the target working vehicles whose distance does not exceed a preset threshold are selected to form the working sequence.

[0028] In response to the number of target work vehicles in the work sequence exceeding a predetermined number, some of the target work vehicles in the work sequence are dispatched to idle work equipment for work, thereby updating the work sequence;

[0029] Verify that each target vehicle in the updated work sequence conforms to the work arrangement;

[0030] Send the updated job sequence and verification results to the corresponding job terminals;

[0031] The operation terminal is further configured to: issue an alarm message in response to the verification result indicating that at least one of the target operation vehicles does not conform to the operation schedule.

[0032] Optionally, the first edge computer is further used for:

[0033] An adaptive filtering algorithm is used to filter out environmental noise in the first ranging data;

[0034] By combining the time decay factor to dynamically compensate for the signal drift in the first ranging data after filtering, the preprocessed first ranging data is obtained.

[0035] The relative positional relationship between the work vehicle and the work equipment is determined based on the preprocessed first ranging data.

[0036] Optionally, the work vehicle tag also includes an acceleration sensor, and the work vehicle tag is further configured to transmit a UWB signal containing its own identifier in response to the work vehicle being in motion.

[0037] Optionally, the first edge computer and the second edge computer are also used to periodically send time synchronization requests to the site management system to complete time synchronization.

[0038] Secondly, embodiments of the present invention also provide a vehicle identification and collaborative scheduling method based on UWB spatiotemporal perception, the method comprising:

[0039] The first base station communicates with the tags of the work vehicles based on UWB technology to obtain the identification of each work vehicle tag and the first ranging data. The work vehicle tags are set on the work vehicles, and the first base station is set on the work equipment.

[0040] The first edge computer determines the license plate information corresponding to each of the work vehicles based on the pre-stored first binding relationship library and the identifier of each work vehicle tag, and determines the relative positional relationship between each work vehicle and the work equipment based on each of the first ranging data. The first binding relationship library represents the correspondence between the identifier of the work vehicle tag and the license plate information of the work vehicle.

[0041] The second base station communicates with the tags of the work vehicles based on UWB technology to obtain the second ranging data corresponding to each tag of the work vehicles, and communicates with the first base station based on UWB technology to obtain the third ranging data corresponding to each first base station. The second base station is set at a predetermined location in the site.

[0042] The second edge computer determines the license plate information corresponding to each of the work vehicles based on the pre-stored first binding relationship database and the identifiers of each of the work vehicle tags, determines the spatial coordinates of each of the work vehicles within the site based on the second ranging data, determines the number corresponding to each of the work equipment based on the pre-stored second binding relationship database and the identifiers of each of the first base stations, and determines the spatial coordinates of each of the work equipment within the site based on the third ranging data. The second binding relationship database represents the correspondence between the identifiers of the first base stations and the numbers of the work equipment.

[0043] The station management system filters out the work vehicles located in the target track based on the spatial coordinates of each work vehicle, each work equipment and the pre-stored spatial coordinates of the track work area. It sorts the work vehicles according to the relative positional relationship between each work vehicle and the work equipment in the target track, and determines the work sequence of the target work equipment located in the target track. The work sequence is used to characterize the work order of work vehicles that meet the preset positional relationship.

[0044] The operation terminal displays the license plate information and location information of each operation vehicle in the operation sequence.

[0045] This invention, through a first base station and a first edge computer installed on the work equipment, acquires the license plate information of each work vehicle and its relative position to the work equipment. It also acquires the license plate information and spatial coordinates of each work vehicle, as well as the number and spatial coordinates of each work equipment, through a second base station and a second edge computer installed at a predetermined location in the station. The station management system then filters out work vehicles located in the target track based on the spatial coordinates of the work equipment, work vehicles, and the track's work area. The system determines the work sequence based on the relative positional relationships between each work vehicle and the work equipment in the target track and displays the sequence on the work terminal installed on the work equipment. Therefore, this invention improves the accuracy and stability of license plate recognition and positioning, enables coordinated vehicle scheduling, and thus enhances station operation efficiency. Attached Figure Description

[0046] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0047] Figure 1 This is a schematic diagram of a vehicle license plate recognition and positioning system for station operation vehicles according to an embodiment of the present invention;

[0048] Figure 2 This is a flowchart of a ranging method according to an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the ranging process according to an embodiment of the present invention;

[0050] Figure 4 This is a flowchart of the work equipment scheduling method according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of a station according to an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the working terminal interface according to an embodiment of the present invention;

[0053] Figure 7 This is a flowchart of a method for identifying and locating license plate numbers of vehicles used in station operations according to an embodiment of the present invention;

[0054] Figure 8 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0055] The present application is described below based on embodiments, but it is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without these details. To avoid obscuring the substance of the present application, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0056] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0057] Unless the context explicitly requires it, words such as "including" or "contains" throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0058] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0059] UWB (Ultra Wide Band) technology is a wireless carrier communication technology that uses non-sinusoidal narrow pulses in the nanosecond to microsecond range to transmit data. It has a wide spectrum range, and therefore, UWB technology has advantages such as high transmission rate, strong anti-interference ability, strong penetration ability, high accuracy, and low power consumption.

[0060] Figure 1 This is a schematic diagram of a vehicle license plate recognition and positioning system for station operation vehicles according to an embodiment of the present invention. Figure 1 As shown, the system includes a work vehicle tag 11, a first base station 12, a first edge computer 13, a site management system 14, a work terminal 15, a second base station 16, and a second edge computer 17. Each first base station 12 has a corresponding first edge computer 13, and each second base station 16 has a corresponding second edge computer 17. Preferably, each of the work vehicle tag 11, the first base station 12, the first edge computer 13, and the work terminal 15 includes at least one, and each of the second base stations 16 and the second edge computers 17 includes at least four. Figure 1Taking a system comprising three vehicle tags 11, two first base stations 12, two first edge computers 13, two operation terminals 15, four second base stations 16, and four second edge computers 17 as an example, it should be understood that the number of vehicle tags 11 is determined by the number of operation vehicles in the site, and the number of first base stations 12, first edge computers 13, and operation terminals 15 is determined by the number of operation equipment in the site. Each vehicle tag 11 is mounted on the corresponding operation vehicle and is used to transmit a UWB signal containing its own identifier. Each first base station 12 is mounted on the corresponding operation equipment and is used to communicate with the vehicle tags 11 based on UWB technology to obtain the identifier and first ranging data of each vehicle tag 11, and then send it to the corresponding first edge computer 13.

[0061] In this embodiment, the operating vehicles may include container trucks, tractors, and other vehicles used for cargo transportation, and the operating equipment may include equipment used for handling, lifting, and other functions, such as reach stackers, gantry cranes, forklifts, stackers, AGVs, container lifting robots, etc. It should be understood that the above is merely an illustrative example and this embodiment does not impose any limitations on it.

[0062] Each first edge computer 13 communicates with its corresponding first base station 12 to determine the license plate information of each work vehicle based on a pre-stored first binding relationship database and the identifiers of each work vehicle tag 11, and to determine the relative positional relationship between each work vehicle and the work equipment based on each first ranging data. The first binding relationship database represents the correspondence between the identifiers of the work vehicle tags and the license plate information of the work vehicles.

[0063] The deployment of the second base stations 16 enables them to form a network infrastructure covering the entire site. Preferably, there are at least four second base stations 16, each located at a predetermined position within the site. These predetermined positions are planned spatial high points within the site. This allows the second base stations 16 to form a network infrastructure covering the entire site, enabling the second edge computer 17, mounted on the second base stations 16, to establish a spatial rectangular coordinate system for the site, defining the site's coordinate origin and the positive directions of the horizontal, vertical, and axial coordinates, ensuring that each device within the site has a unique three-dimensional spatial coordinate. Specifically, the second base stations 16 communicate with the work vehicle tags 11 using UWB technology to obtain second ranging data corresponding to each work vehicle tag 11, and communicate with the first base stations 12 using UWB technology to obtain third ranging data corresponding to each first base station 12. This allows the second edge computer 17 to accurately calculate the spatial coordinates of each work vehicle using the second ranging data and the spatial coordinates of each work device using the third ranging data, providing high-precision spatial reference data for the scheduling system. Simultaneously, when communicating with the first base station 12, the second edge computer 17 also obtains the identifier corresponding to the first base station. The second edge computer 17 also pre-stores a first binding relationship database and a second binding relationship database. The first binding relationship database represents the correspondence between the identifier of the work vehicle tag and the license plate information of the work vehicle, while the second binding relationship database represents the correspondence between the identifier of the first base station and the number of the work equipment. Therefore, the second edge computer can determine the license plate information corresponding to each work vehicle based on the pre-stored first binding relationship database and the identifier of each work vehicle, and determine the number corresponding to each work equipment based on the pre-stored second binding relationship database and the identifier of each first base station. It should be understood that the first binding relationship database and the second binding relationship database can also be stored in the same database and pre-stored in the first edge computer 13 and the second edge computer 17.

[0064] The station management system 14 is used to filter out operating vehicles located on target tracks based on the spatial coordinates of each operating vehicle and each operating equipment, as well as the pre-stored spatial coordinates of the track operating area. It then sorts the operating vehicles according to the relative positional relationships between each operating vehicle and operating equipment on the target track, determining the operating sequence of the target operating equipment on the target track. The operating sequence represents the order in which operating vehicles satisfy the preset positional relationships. The spatial coordinates of the track operating area are obtained during system initialization based on the spatial rectangular coordinate system established by the second edge computer 17 and station planning calculations, and are pre-stored in the station management system 14. After determining the operating sequence, the station management system 14 sends it to the corresponding operating terminal 15. The operating terminal 15 is located in the driver's cab of the operating equipment and displays the license plate information and location information of each operating vehicle in the operating sequence. A track is an independent track unit within the station, consisting of parallel steel rails, sleepers, ballast, and matching turnouts, used for loading, unloading, transferring, and storing goods, as well as parking and scheduling freight vehicles.

[0065] Optionally, the site management system 14 also acts as an NTP (Network Time Protocol) server to provide highly accurate time, and the first edge computer and the second edge computer are also used to periodically send time synchronization requests to the site management system to complete time synchronization with the site management system.

[0066] Preferably, the work vehicle tag 11 includes a processing unit and an antenna module. The processing unit has a built-in unique identifier for identification and works in conjunction with the antenna module to automatically transmit, receive, and process signals when the work vehicle enters the depot, without requiring additional operation from the work vehicle driver. The work vehicle tag's outer shell adopts a sealed structure design, providing excellent waterproof and dustproof performance to adapt to the complex and variable climate conditions of the depot. Optionally, the work vehicle tag 11 is installed on an unobstructed area on the top of the work vehicle's cab using a fixed bracket to ensure omnidirectional signal coverage.

[0067] In one alternative implementation, the work vehicle tag 11 is connected to the on-board power system of the work vehicle to provide power. With sufficient power, the work vehicle tag 11 can be configured to periodically broadcast a UWB signal containing its own identifier to the surrounding area. Its transmission period can be adjusted according to the recognition accuracy requirements of the actual work scenario.

[0068] In another alternative implementation, the work vehicle tag 11 includes a power supply device to ensure normal communication through periodic charging. In this case, the work vehicle tag 11 also includes an accelerometer to obtain the motion state of the work vehicle. The work vehicle tag 11 is further used to transmit a UWB signal containing its own identifier in response to the work vehicle being in motion, and to stop transmitting the UWB signal in response to the work vehicle being stationary, so as to reduce power consumption.

[0069] Optionally, to ensure effective capture of the signal from the tag 11 on the work vehicle, the installation position of the first base station 12 can be flexibly adjusted according to the structural characteristics of different work equipment to reduce obstruction. For example, for work equipment such as reach stackers and gantry cranes, the first base station 12 is installed on top of the spreader; for work equipment such as forklifts and stackers, the first base station 12 is installed above and behind the cab.

[0070] Optionally, the first edge computer 13 is usually installed on the cab of the operating equipment. During installation, it should be as close as possible to the first base station 12. The first base station 12 and the first edge computer 13 can be connected via wired or wireless communication. The specific connection method is determined according to the actual situation of the operating equipment. For example, for gantry cranes, as large lifting equipment, the distance between the lifting end and the cab is usually far and the span is large, making it difficult to connect via wired means. Wireless means can be used for connection. For operating equipment such as reach stackers, forklifts, and stackers, wired means can be used to improve data transmission accuracy and anti-interference ability.

[0071] Optionally, the first edge computer 13 is further configured to acquire recorded values, including the relative positional relationships between each work vehicle and the work equipment, and the corresponding timestamps. Based on the recorded values, it calculates the speed and acceleration information of each work vehicle, determines whether there is a collision risk based on the speed and acceleration information, and sends alarm information to the work terminal 15 and the site management system 14 in response to the determination that a work vehicle has a collision risk. Specifically, after calculating the relative positional relationships between each work vehicle, the first edge computer 13 appends a local clock count value as a timestamp and records it in the storage space as a recorded value. Simultaneously, it periodically calculates the speed and acceleration information of each work vehicle based on continuous recorded values. If the speed and / or acceleration of a work vehicle is still greater than a predetermined value within a certain distance, it is determined that there is a collision risk. The work terminal 15, in response to receiving the alarm information, issues an audible and visual alarm. Further, the site management system 14, in response to receiving the alarm information, communicates with the work vehicles with a collision risk to remind them to slow down. In other alternative implementations, the collision warning function can also be implemented by the second edge computer 17 or the site management system 14, and the specific implementation process will not be described in detail here.

[0072] In one alternative implementation, the relative positional relationship between the work vehicle and the work equipment calculated by the first edge computer 13 represents the distance between the work vehicle and the work equipment. In order to ensure the accuracy of the ranging data, the work vehicle tag 11 and the first base station 12 can be used for ranging through a bilateral bidirectional ranging method. Figure 2 This is a flowchart of a ranging method according to an embodiment of the present invention. Figure 2 As shown, the following explanation uses the communication process between a work vehicle tag 11 and a first base station 12 as an example. The work vehicle tag 11 and the first base station 12 communicate through a simplified bilateral two-way ranging method to obtain first ranging data for distance calculation. Specifically, the ranging method includes the following steps:

[0073] In step S210, the work vehicle tag 11 sends a first ranging message to the first base station 12. It should be understood that the first ranging message is the UWB signal containing its own identifier transmitted by the aforementioned work vehicle tag.

[0074] In step S220, the first base station 12 responds to receiving the first ranging message within a first delay time T. reply1 Then, a second ranging message is sent to tag 11 of the work vehicle.

[0075] In step S230, the work vehicle tag 11 responds to receiving the second ranging message, during the second delay time T reply2 Then, a third ranging message is sent to the first base station 12.

[0076] In step S240, the first base station 12 receives the third ranging message and acquires the first ranging data. Figure 3 This is a schematic diagram of the ranging process according to an embodiment of the present invention. For example... Figure 3 As shown, the first ranging data includes the time interval T between the operation vehicle tag 11 sending the first ranging message and receiving the second ranging message. round1 The time interval T between the first base station 12 sending the second ranging message and receiving the third ranging message. round2 First delay time T reply1 Second delay time T reply2 And signal transmission speed c, T round1 and T reply2 The distance is measured by the tag 11 on the work vehicle and sent to the first base station 12 via the third ranging message. round2 T reply1 The speed of electromagnetic wave propagation, also known as the speed of light, is measured by the first base station 12 and is c, which is preset in the first base station 12.

[0077] Optionally, during communication, the first base station 12 can use a hybrid scheduling method of time division multiple access (TDMA) and frequency hopping spread spectrum to communicate with the tag on the work vehicle and obtain the first ranging data. Specifically, the time axis is first divided into dedicated time slots using TDMA technology and allocated to different communication nodes to avoid time transmission conflicts. Then, within each time slot, frequency hopping spread spectrum technology is combined to allow the signal to dynamically jump between multiple frequency points according to a pseudo-random sequence. At the same time, it is necessary to ensure the synchronization of the entire network clock with the frequency hopping sequence, and to dynamically adjust resource allocation according to channel interference and node requirements. Through the hybrid scheduling method of TDMA and frequency hopping spread spectrum, this embodiment can improve the anti-interference capability and spectrum utilization of communication, and ensure the reliability and efficiency of multi-node concurrent transmission.

[0078] Because the actual environment of the base station is quite complex, the signal may be affected by factors such as metal reflection and temperature and humidity fluctuations. Therefore, the first base station 12 may also include devices such as temperature and humidity sensors to detect environmental parameters in real time. These parameters are used to adjust the environmental compensation algorithm and correct errors in the first ranging data caused by environmental factors. For example, taking the signal transmission speed *c* as an example, since the speed of light is affected by the air refractive index, the actual air refractive index can be calculated based on the measured temperature and humidity, thereby correcting the preset signal transmission speed *c* in the first base station 12. It should be understood that the environmental compensation algorithm is determined based on the current environment of the first base station 12, and may specifically include Kalman filtering algorithms, neural network models, linear regression models, etc. This embodiment does not limit this to specific methods.

[0079] Similarly, the second base station 16 can communicate with the work vehicle tag 11 and the first base station 12 using a time division multiple access and frequency hopping spread spectrum hybrid scheduling method. The second and third ranging data it measures are also corrected using an environmental compensation algorithm. Specific details will not be elaborated here.

[0080] In step S250, the first base station 12 sends the first ranging data to the first edge computer 13.

[0081] In step S260, the first edge computer 13 calculates the distance D between the work vehicle and the work equipment based on the first ranging data.

[0082] Specifically, the formula for calculating distance D is as follows:

[0083]

[0084] Therefore, this embodiment can cancel the clock deviation between the work vehicle tag 11 and the first base station 12 through bidirectional signals, thereby achieving high-precision ranging.

[0085] It should be understood that this embodiment does not limit the ranging method; it is sufficient to achieve high-precision ranging based on the actual situation.

[0086] The communication process between the second base station 16 and the work vehicle tag 11 and the first base station 12, as well as the process by which the second edge computer 17 calculates the distance between each work vehicle, each work equipment and the second base station 16, are similar and will not be described in detail here.

[0087] In one alternative implementation, taking the second base station 16 as an example comprising N (N greater than or equal to 4), the spatial coordinates of the operating vehicle and operating equipment can be calculated using the least squares method, with the specific calculation formula as follows:

[0088]

[0089]

[0090]

[0091] Among them, (x i ,y i ,z i Let d be the coordinates of the i-th second base station 16 out of N second base stations 16. i P is the distance between the target to be located and the second base station 16, P is the spatial coordinate of the target to be located, and W is the weight matrix, which is obtained by calculating the coordinate error value and is used to weight the measurement results of different base stations to ensure the reliability of the calculation results.

[0092] In one alternative implementation, when receiving the first ranging data, the first edge computer 13 may also employ an adaptive filtering algorithm to filter out environmental noise in the first ranging data, and combine it with a time decay factor to dynamically compensate for signal drift in the filtered first ranging data, thereby obtaining preprocessed first ranging data. Based on the preprocessed first ranging data, the relative positional relationship between the work vehicle and the work equipment is determined to ensure the accuracy of the first ranging data.

[0093] The adaptive filtering algorithm is a type of intelligent algorithm that can filter the input signal and dynamically adjust the filtering parameters based on the error between the filtered signal and the ideal reference signal to continuously optimize the filtering effect. The time decay factor is a dynamic coefficient describing the decay / shift of signal parameters over time under the influence of environmental factors, used to quantify the degree of drift. Similar to the principle of the adaptive filtering algorithm, the first edge computer 13 stores a basic model of the time decay factor for signal correction. Simultaneously, the first edge computer 13 periodically compares the calculation results of the basic model with the ideal data and dynamically adjusts the model based on the deviation. By using the adaptive filtering algorithm and the time decay factor to process the signal, the first edge computer 13 can effectively eliminate errors caused by signal transmission, further improving ranging accuracy. Optionally, the adaptive filtering algorithm can be the least mean square algorithm, the normalized least mean square algorithm, the recursive least squares algorithm, or other algorithms capable of eliminating environmental errors. The second edge computer 17 can process the second and third ranging data in the same way, which will not be elaborated further here.

[0094] Optionally, the first edge computer 13 and the second edge computer 17 have local data caching functions. In response to a communication anomaly between the first edge computer 13 and the site management system 14, the first edge computer 13 can store the calculated license plate information and location information of each operating vehicle. In response to a communication anomaly between the second edge computer 17 and the site management system 14, the second edge computer 17 can store the calculated license plate information and location information of each operating vehicle, as well as the number and location information of each operating device, to avoid data loss and provide reliable processing results for subsequent license plate identification and positioning of operating vehicles.

[0095] The site management system 14 is the core management platform that coordinates the overall operation of the site. In one optional implementation, the site management system 14 also includes a central control screen. After receiving the license plate information and location information of each operating vehicle, the site management system 14 displays the overall operation status of the site on the central control screen through a graphical interface, such as the distribution of operating vehicles and the operating status of various operating equipment. Figure 4 This is a flowchart of a work equipment scheduling method according to an embodiment of the present invention. Figure 4 As shown, the site management system 14 can generate the operation sequence corresponding to the target operation equipment through the following steps to achieve the scheduling of the target operation equipment and operation vehicles:

[0096] Step S410: Based on the spatial coordinates of the work vehicle and the target work equipment within the station and the pre-stored spatial coordinates of the track work area, select the work vehicle in the target track. The target track is the track where the target work equipment is located.

[0097] Step S420: By analyzing the real-time movement direction and spatial coordinates of each working vehicle within the target track, target working vehicles that have not completed their work are selected. These target working vehicles are then arranged in ascending order of their distance from the target working equipment. Target working vehicles whose distance does not exceed a preset threshold are selected to form a work sequence. The real-time movement direction is determined based on the spatial coordinates of the working vehicles. It should be understood that the station management system 14 generates corresponding work sequences for multiple working devices simultaneously. This explanation uses one working device (i.e., the target working device) and its corresponding work sequence as an example.

[0098] Figure 5 This is a schematic diagram of a facility according to an embodiment of the present invention. (As shown...) Figure 5 As shown, the depot has three tracks: track 51, track 52, and track 53. In the target track (track 51), by analyzing the real-time movement direction and spatial coordinates of each working vehicle within the target track, for example, vehicles moving towards the target working equipment 57 and whose spatial coordinates are located in the target track can be selected as target working vehicles (the specific selection logic can be flexibly adjusted based on the specific operating conditions of the depot). These vehicles can then be further sorted and filtered to determine the operating sequence. For example, in... Figure 5 In the scenario shown, within a certain distance range of the target work equipment 57 (i.e., the distance to the target work equipment 57 does not exceed a preset threshold), there are three target work vehicles: target work vehicle 54, target work vehicle 55, and target work vehicle 56 (target work vehicles outside this distance range are not shown). The site management system 14 sorts the target work vehicles according to their distance from the target work equipment 57 and filters out the target work vehicles whose distance does not exceed the preset threshold, thus obtaining the work sequence of target work vehicles 54, 55, and 56. The preset threshold can be adjusted according to the site layout plan; for example, it can be set to 10 meters.

[0099] Step S430: In response to the number of target work vehicles in the work sequence exceeding a predetermined number, some target work vehicles in the work sequence are dispatched to idle work equipment for work, thereby updating the work sequence. Specifically, if there are idle work equipment within a certain range near the target work equipment, dispatch information can be sent to the idle work equipment and the work sequence corresponding to the idle work equipment can be updated. The idle work equipment is then dispatched to the work vehicle accumulation location to work together with the target work equipment. If there are other available idle tracks in the station besides the target track, some target work vehicles that are later in the work sequence (e.g., exceeding the predetermined number) can be selected, and dispatch information can be sent to them to remind each target work vehicle to go to an idle track to wait for work. Both can be performed simultaneously, or one can be chosen at a time.

[0100] Step S440: Verify whether each target vehicle in the updated work sequence conforms to the work arrangement.

[0101] Optionally, the station management system 14 also has interfaces with other existing management systems at the station. By connecting to existing management systems, the station management system 14 can obtain the operation schedules for each track to verify whether each target operation vehicle in the updated operation sequence conforms to the operation schedule of the target track, and generate verification results corresponding to each target operation vehicle. The station management system 14 can also send the operation sequence to the existing management system, which will then complete the scheduling of the target operation vehicles. Thus, this embodiment can achieve data sharing and business collaboration, forming a complete business system from operation vehicle identification and positioning to operation scheduling, thereby improving the overall operation efficiency and management level of the station.

[0102] In step S450, the updated job sequence and verification result are sent to the corresponding job terminal 15. After receiving the updated job sequence and verification result, the job terminal 15 issues an alarm message in response to the verification result indicating that at least one target job vehicle in the updated job sequence does not conform to the job arrangement.

[0103] This embodiment verifies and complements the spatial coordinates measured by the second base station 16 with the relative positional relationship measured by the first base station 12, thereby generating the operation sequence corresponding to the target operation equipment. If the measurement accuracy of any base station is reduced due to an accident, it can be detected and corrected in time, thus improving the accuracy and stability of vehicle positioning.

[0104] Figure 6 This is a schematic diagram of the operating terminal interface according to an embodiment of the present invention. Figure 6 As shown, the work terminal 15 is an interface device for information interaction between the operator and the system. It is fixedly installed in the cab of the target work equipment. The interface displays the license plate information, location information, and distance change trend of each target work vehicle in the work sequence, providing clear work target guidance for the operator. Taking the aforementioned work sequence including target work vehicle 54, target work vehicle 55, and target work vehicle 56 as an example, optionally, to facilitate the operator's quick location and viewing of the target work vehicle to be worked, the work terminal 15 can identify the nearest target work vehicle as the target work vehicle to be worked (i.e., target work vehicle 54), highlight it by using a highlighting or enlarged icon, and indicate the current distance change trend with an arrow direction (…). Figure 6The downward arrow indicates that the distance between the target work vehicle and the target work equipment is decreasing. If the verification result for the target work vehicle indicates that it does not conform to the work arrangement, the work terminal 15 can issue an alarm message through sound, light, or other means (such as flashing warning lights and voice prompts) to remind the workers to work appropriately. The interface of the work terminal 15 also displays a confirmation button (i.e., Figure 6 The "Completed" button allows operators to manually confirm the completion of tasks for the current target vehicle, ensuring accurate execution of work instructions. Upon confirmation, the work terminal 15 updates the list of target vehicles awaiting work. Simultaneously, if the target vehicle is detected to have moved out of the target equipment's operating range, the work terminal can also send alerts to the operators and the site management system 14.

[0105] In other optional implementations, when determining the work sequence, the station management system 14 can also calculate, based on the distance between each target work vehicle and the target work equipment, as well as the relative positional relationship between each target work vehicle, using a path planning algorithm or neural network model, a work sequence that maximizes work efficiency and avoids conflicts between the target work vehicles during operation. Furthermore, different priorities can be assigned to each target work vehicle according to the different goods it transports, taking this into consideration during the work sequence generation process, to balance work efficiency with the urgent needs of some goods.

[0106] This invention, through a first base station and a first edge computer installed on the work equipment, acquires the license plate information of each work vehicle and its relative position to the work equipment. It also acquires the license plate information and spatial coordinates of each work vehicle, as well as the number and spatial coordinates of each work equipment, through a second base station and a second edge computer installed at a predetermined location in the station. The station management system then filters out work vehicles located in the target track based on the spatial coordinates of the work equipment, work vehicles, and the track's work area. The system determines the work sequence based on the relative positional relationships between each work vehicle and the work equipment in the target track and displays the sequence on the work terminal installed on the work equipment. Therefore, this invention improves the accuracy and stability of license plate recognition and positioning, enables coordinated vehicle scheduling, and thus enhances station operation efficiency.

[0107] Figure 7 This is a flowchart illustrating a method for identifying and locating license plate numbers of vehicles used in station operations, according to an embodiment of the present invention. Figure 7 As shown, the method for identifying and locating license plate numbers of on-site operation vehicles in this embodiment specifically includes the following steps:

[0108] In step S710, the first base station 12 communicates with the work vehicle tag 11 based on UWB technology to obtain the identification of each work vehicle tag 11 and the first ranging data. The work vehicle tag 11 is set on the work vehicle, and the first base station 12 is set on the work equipment.

[0109] In step S720, the first edge computer 13 determines the license plate information corresponding to each work vehicle based on the pre-stored first binding relationship database and the identifiers of each work vehicle tag 11, and determines the relative positional relationship between each work vehicle and the work equipment based on each first ranging data. The first binding relationship database represents the correspondence between the identifiers of the work vehicle tags and the license plate information of the work vehicles.

[0110] In step S730, the second base station 16 communicates with the work vehicle tags 11 based on UWB technology to obtain the second ranging data corresponding to each work vehicle tag 11, and communicates with the first base station 12 based on UWB technology to obtain the third ranging data corresponding to each first base station. The second base station is located at a predetermined position within the site.

[0111] In step S740, the second edge computer 17 determines the license plate information corresponding to each operating vehicle based on the pre-stored first binding relationship database and the identifiers of each operating vehicle tag 11; determines the spatial coordinates of each operating vehicle within the site based on each second ranging data; and determines the corresponding number of each operating device based on the pre-stored second binding relationship database and the identifiers of each first base station 12. It also determines the spatial coordinates of each operating device within the site based on each third ranging data. The second binding relationship database represents the correspondence between the identifiers of the first base stations and the numbers of the operating devices.

[0112] In step S750, the station management system 14 filters out the work vehicles located on the target track based on the spatial coordinates of each work vehicle and each work equipment, as well as the pre-stored spatial coordinates of the track work area. It then sorts the work vehicles according to the relative positional relationships between each work vehicle and work equipment on the target track, determining the work sequence of the target work equipment located on the target track. It should be understood that the work sequence represents the work order of work vehicles that satisfy the preset positional relationships, including the sequentially arranged work vehicles and the license plate information and location information corresponding to each work vehicle.

[0113] In step S760, the work terminal 15 displays the license plate information and location information of each work vehicle in the work sequence.

[0114] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0115] This invention, through a first base station and a first edge computer installed on the work equipment, acquires the license plate information of each work vehicle and its relative position to the work equipment. It also acquires the license plate information and spatial coordinates of each work vehicle, as well as the number and spatial coordinates of each work equipment, through a second base station and a second edge computer installed at a predetermined location in the station. The station management system then filters out work vehicles located in the target track based on the spatial coordinates of the work equipment, work vehicles, and the track's work area. The system determines the work sequence based on the relative positional relationships between each work vehicle and the work equipment in the target track and displays the sequence on the work terminal installed on the work equipment. Therefore, this invention improves the accuracy and stability of license plate recognition and positioning, enables coordinated vehicle scheduling, and thus enhances station operation efficiency.

[0116] Figure 8 This is a schematic diagram of an electronic device according to an embodiment of the present invention. (For example...) Figure 8 As shown, Figure 8 The illustrated electronic device 8 is used in the aforementioned first edge computer, second edge computer, site management system, and / or work terminal. It includes a general computer hardware architecture, comprising at least a processor 81 and a memory 82. The processor 81 and memory 82 are connected via a bus 83. The memory 82 is adapted to store instructions or programs executable by the processor 81. The processor 81 can be a standalone microprocessor or a collection of one or more microprocessors. Thus, the processor 81 executes the instructions stored in the memory 82 to perform the method flow of the embodiments of the present invention as described above, thereby realizing data processing and control of other devices. The bus 83 connects the aforementioned components together, and also connects these components to a display controller 84, a display device, and an input / output (I / O) device 85. The input / output (I / O) device 85 can be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input / output device 85 is connected to the system via an input / output (I / O) controller 86.

[0117] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus (devices), or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0118] This application is described with reference to flowchart illustrations of methods, apparatus (devices), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions.

[0119] These computer program instructions may be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction means, the implementation process of which is described in the instruction means. Figure 1 The function specified in one or more processes.

[0120] These computer program instructions may also be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, produce instructions for implementing processes. Figure 1 A device for a function specified in one or more processes.

[0121] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program for use by a computer to execute some or all of the above-described method embodiments.

[0122] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program specifying the relevant hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0123] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle identity recognition and cooperative scheduling system based on UWB space-time perception, characterized in that, The system comprises: A work vehicle tag arranged on a work vehicle and configured to emit an UWB signal containing an identity of the work vehicle tag; A first base station arranged on a work device and configured to communicate with the work vehicle tag based on UWB technology to obtain the identity of each work vehicle tag and first ranging data; A second base station arranged at a predetermined position of a station and configured to communicate with the work vehicle tag based on UWB technology to obtain second ranging data corresponding to each work vehicle tag, and communicate with the first base station based on UWB technology to obtain third ranging data corresponding to each first base station; A first edge computer arranged on the work device and configured to determine the license plate information corresponding to each work vehicle based on a pre-stored first binding relationship database and the identity of each work vehicle tag, and determine the relative position relationship between each work vehicle and the work device based on the first ranging data; A second edge computer arranged on the second base station and configured to determine the license plate information corresponding to each work vehicle based on the pre-stored first binding relationship database and the identity of each work vehicle tag, determine the spatial coordinates of each work vehicle in the station based on the second ranging data, and determine the number corresponding to each work device based on a pre-stored second binding relationship database and the identity of each first base station, and determine the spatial coordinates of each work device in the station based on the third ranging data, wherein the second binding relationship database represents the correspondence between the identity of the first base station and the number of the work device; A station management system configured to filter out work vehicles located in a target track based on the spatial coordinates of each work vehicle, each work device, and the pre-stored spatial coordinates of the track work area, sort each work vehicle based on the relative position relationship between each work vehicle and the work device in the target track, and determine the work sequence of the target work device located in the target track, wherein the work sequence represents the work order of the work vehicles meeting the preset position relationship; A work terminal arranged in the cab of the work device and configured to display the license plate information and position information of each work vehicle in the work sequence.

2. The system of claim 1, wherein, The first base station is configured to communicate with the work vehicle tag in a time division multiple access and frequency hopping spread spectrum hybrid scheduling manner, and the second base station is configured to communicate with the work vehicle tag and the first base station in a time division multiple access and frequency hopping spread spectrum hybrid scheduling manner; The first ranging data and the second ranging data are corrected by an environment compensation algorithm, the environment compensation algorithm corresponding to the first ranging data is determined based on the current environment of the first base station, and the environment compensation algorithm corresponding to the second ranging data is determined based on the current environment of the second base station.

3. The system of claim 1, wherein, The first edge computer is further configured to: acquire record values, the record values including recorded relative position relationships between each of the work vehicles and the work equipment and corresponding time stamps; calculate speed and acceleration information of each of the work vehicles according to the record values; determine whether each of the work vehicles has a collision risk according to the speed and acceleration information of each of the work vehicles; in response to a determination result indicating that a work vehicle has a collision risk, send alarm information to the work terminal and the yard management system.

4. The system of claim 1, wherein, The first edge computer is further configured to store license plate information and location information of each of the work vehicles in response to a communication abnormality between the first edge computer and the yard management system, and the second edge computer is further configured to store the license plate information and location information of each of the work vehicles and the number and location information of each of the work equipment in response to a communication abnormality between the second edge computer and the yard management system.

5. The system of claim 1, wherein, The communication process between the first base station and the work vehicle tag includes: The work vehicle tag sends a first ranging message to the first base station; The first base station sends a second ranging message to the work vehicle tag after a first delay time in response to receiving the first ranging message; The work vehicle tag sends a third ranging message to the first base station after a second delay time in response to receiving the second ranging message; The first ranging data includes a time interval between the work vehicle tag sending the first ranging message and receiving the second ranging message, a time interval between the first base station sending the second ranging message and receiving the third ranging message, the first delay time, the second delay time, and a signal transmission speed.

6. The system of claim 1, wherein, The relative position relationship represents a distance between the work vehicle and the work equipment, and the yard management system is further configured to: select target work vehicles that have not completed work by analyzing real-time movement directions and spatial coordinates of each work vehicle in the target lane, arrange each of the target work vehicles in order of distance from the target work equipment from small to large, and select target work vehicles with a distance not exceeding a preset threshold to form the work sequence; in response to a number of target work vehicles in the work sequence being greater than a predetermined number, dispatch part of the target work vehicles in the work sequence to idle work equipment for work to update the work sequence; verify whether each target work vehicle in the updated work sequence meets work arrangement; send the updated work sequence and the verification result to a corresponding work terminal; The work terminal is further configured to send alarm information in response to the verification result indicating that at least one of the target work vehicles does not meet work arrangement.

7. The system of claim 1, wherein, The first edge computer is further configured to: filter environmental noise in the first ranging data using an adaptive filtering algorithm; dynamically compensate for signal drift in the filtered first ranging data by combining a time decay factor to obtain preprocessed first ranging data; determine the relative position relationship between the work vehicle and the work equipment based on the preprocessed first ranging data.

8. The system of claim 1, wherein, The work vehicle tag further comprises an acceleration sensor, and the work vehicle tag is further configured to emit a UWB signal containing its own identification in response to the work vehicle being in a state of motion.

9. The system of claim 1, wherein, The first edge computer and the second edge computer are further configured to periodically send a time service request to the station management system to complete time synchronization.

10. A vehicle identity recognition and cooperative scheduling method based on UWB space-time perception, characterized in that, The method comprises: A first base station communicates with work vehicle tags based on UWB technology to obtain the identification and first ranging data of each work vehicle tag, the work vehicle tags are arranged on work vehicles, and the first base station is arranged on work equipment; A first edge computer determines the license plate information corresponding to each work vehicle based on a pre-stored first binding relationship library and the identification of each work vehicle tag, and determines the relative position relationship between each work vehicle and the work equipment based on each first ranging data; A second base station communicates with the work vehicle tags based on UWB technology to obtain second ranging data corresponding to each work vehicle tag, and communicates with the first base station based on UWB technology to obtain third ranging data corresponding to each first base station, and the second base station is arranged at a predetermined position of a station; A second edge computer determines the license plate information corresponding to each work vehicle based on a pre-stored first binding relationship library and the identification of each work vehicle tag, and determines the spatial coordinates of each work vehicle in the station based on each second ranging data, and determines the number corresponding to each work equipment based on a pre-stored second binding relationship library and the identification of each first base station, and determines the spatial coordinates of each work equipment in the station based on each third ranging data, and the second binding relationship library represents the corresponding relationship between the identification of the first base station and the number of the work equipment; A station management system screens work vehicles located in a target track based on the spatial coordinates of each work vehicle, each work equipment, and the pre-stored spatial coordinates of the track work area, sorts each work vehicle based on the relative position relationship between each work vehicle and the work equipment in the target track, and determines the work sequence of the target work equipment located in the target track, and the work sequence represents the work order of the work vehicle meeting the pre-set position relationship; A work terminal displays the license plate information and position information of each work vehicle in the work sequence.

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