An unmanned transport vehicle inspection control method, system, vehicle and storage medium

Abstract

The embodiments of this application relate to the field of smart logistics technology, specifically to a method, system, vehicle, and storage medium for inspecting and controlling unmanned transport vehicles. The main steps of the aforementioned method include: when the planned inspection marker of the vehicle indicates it is to be inspected, controlling the vehicle to drive to the inspection entrance; if the on-site inspection marker determined at the inspection entrance matches the planned inspection marker, then driving the vehicle to the initial parking position according to a preset passage lane; determining the target parking position corresponding to the vehicle based on the positional information of the inspection equipment; controlling the vehicle to drive to the target parking position for inspection, and controlling the vehicle to leave the work area when the inspection result is qualified. The entire inspection process, from entrance determination, corridor driving, dynamic alignment to automatic departure, is automatically completed by the vehicle-side controller, eliminating the need for manual operations such as driver disembarking, waiting, and re-getting in the vehicle, significantly shortening the time a single vehicle occupies the inspection lane and improving the efficiency of the overall inspection task.

Description

Technical Field

[0001] This application relates to the field of smart logistics technology, and in particular to a method, system, vehicle, and storage medium for inspecting and controlling unmanned transport vehicles. Background Technology

[0002] With the rapid development of autonomous driving technology and the improvement of automation levels in the logistics industry, unmanned transport vehicles (such as unmanned trucks and unmanned forklifts) are increasingly widely used in various logistics hubs, ports, customs supervision sites, and freight channels. To ensure the safe inspection of high-risk goods, inconsistent declarations, or containers requiring random inspection, large X-ray machines have become a key piece of equipment in security inspection operations.

[0003] In practice, the relevant technology distributes inspection tasks to drivers or vehicle terminals through an information-based dispatch system. After the vehicle arrives at the X-ray room, on-site staff or drivers determine whether inspection is required and rely on the driver to drive the vehicle through the X-ray room and complete the parking alignment.

[0004] However, in practical applications, the inspection markings of the dispatch system may not match the actual status of containers or parcels on site, resulting in vehicles entering the server room only to find that no inspection is required, thus causing congestion in the channels and a decrease in operational efficiency. At the same time, since manned vehicles need to wait for the driver to leave the coverage area before inspection and get back in the vehicle after inspection, the inspection channel is occupied for a long time, which cannot fully utilize the efficient operation capabilities of automated equipment. Summary of the Invention

[0005] Therefore, it is necessary to provide an unmanned transport vehicle inspection and control method, system, vehicle, and storage medium to address at least one of the aforementioned technical problems.

[0006] In a first aspect, embodiments of this application provide a method for inspecting and controlling unmanned transport vehicles, the method comprising: When the vehicle's planned inspection mark indicates that it is pending inspection, control the vehicle to drive to the inspection entrance; If the on-site inspection mark at the inspection entrance matches the planned inspection mark, then the vehicle will be driven to the initial parking position according to the preset traffic lane; the initial parking position is located in the work area where the inspection equipment is located. Based on the position information of the inspection equipment, determine the target parking location corresponding to the vehicle; Control the vehicle to the target parking position for inspection, and control the vehicle to leave the work area when the inspection result is qualified.

[0007] In some embodiments, the unmanned transport vehicle inspection and control method further includes: Obtain vehicle transportation task information; transportation task information includes cargo category and risk level; The planned inspection markings are determined based on the cargo category and risk level.

[0008] In some embodiments, driving the vehicle to the initial parking position according to a preset traffic lane includes the following steps: The area outside the traffic lanes is designated as a no-driving zone, and vehicles are controlled to travel along the center line of the traffic lanes. If the lateral deviation of the vehicle relative to the center line of the lane exceeds a preset threshold, and / or an obstacle is detected in the lane, the vehicle will be stopped to await remote planning instructions.

[0009] In some embodiments, determining the target parking location of a vehicle based on the position information of the inspection device includes the following steps: Determine the scanning area of ​​the inspection equipment based on pose information; Based on the scanning area and the vehicle's basic information, the target parking position is calculated to align the goods to be inspected transported by the vehicle with the scanning area of ​​the inspection equipment. The vehicle's basic information includes at least the vehicle's dimensions, the goods' location, and the goods' dimensions.

[0010] In some embodiments, the unmanned transport vehicle inspection and control method further includes: When the vehicle arrives at the target parking position, it sends an inspection ready signal to the inspection equipment to trigger the inspection equipment to perform the inspection operation.

[0011] In some embodiments, the unmanned transport vehicle inspection and control method further includes: When the vehicle's planned inspection mark indicates that it is exempt from inspection, the vehicle is controlled to proceed to the next work node; Alternatively, if the on-site inspection markings are inconsistent with the planned inspection markings after the vehicle arrives at the inspection entrance, the vehicle will be controlled to bypass the work area, and a conflict information record will be reported.

[0012] In some embodiments, the unmanned transport vehicle inspection and control method further includes: If the inspection result is unqualified, the vehicle will be moved to a preset abnormal waiting area, and an abnormality notification will be reported.

[0013] In a second aspect, embodiments of this application provide an inspection and control device for unmanned transport vehicles, the device comprising: The planned inspection determination module is used to control the vehicle to drive to the inspection entrance when the planned inspection mark of the vehicle indicates that it is to be inspected; The access module is used to drive the vehicle to the initial parking position according to the preset passage lane if the on-site inspection mark determined at the inspection entrance matches the planned inspection mark; the initial parking position is located in the work area where the inspection equipment is located. The location determination module is used to determine the target parking position of the vehicle based on the position and orientation information of the inspection equipment. The inspection result determination module is used to control the vehicle to drive to the target parking position for inspection, and to control the vehicle to leave the work area when the inspection result is qualified.

[0014] In a third aspect, embodiments of this application provide an unmanned transport vehicle, including the unmanned transport vehicle inspection and control device as provided in the second aspect of embodiments of this application.

[0015] In a fourth aspect, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the unmanned transport vehicle inspection and control method provided in any embodiment of the first aspect of this application.

[0016] The aforementioned unmanned transport vehicle inspection and control method, device, vehicle, and storage medium, through dual judgment and consistency comparison of planned inspection marks and on-site inspection marks, can automatically identify whether the dispatch information is consistent with the real-time on-site deployment status before the vehicle enters the work area. This avoids invalid entry, channel congestion, and reversing due to information asynchrony, thereby improving the utilization efficiency of the inspection channel. By setting preset traffic lanes, the vehicle is controlled to travel along fixed lanes, eliminating the risk of collisions caused by lateral obstacle avoidance or driver subjective deviation in the equipment room, effectively protecting high-value inspection equipment from damage. By dynamically generating target parking positions based on the position and posture information of the inspection equipment, it can adapt to actual working conditions where the equipment has slight movements, ensuring that the vehicle can accurately align with the center of the scanning area each time, avoiding repeated alignment or scanning failures due to parking deviations, and improving the stability and automation of the inspection operation. The entire inspection process, from entrance detection, corridor driving, dynamic alignment to automatic departure, is completed automatically by the vehicle-side controller. There is no need for manual operation steps such as the driver getting off the vehicle, waiting, and getting back on, which significantly shortens the time a single vehicle occupies the inspection lane and improves the efficiency of the overall inspection task. Attached Figure Description

[0017] Figure 1 This is a diagram illustrating the application environment of the unmanned transport vehicle inspection and control method in some embodiments. Figure 2 This is a flowchart illustrating the inspection and control method for unmanned transport vehicles in some embodiments; Figure 3 This is a flowchart illustrating the steps involved in determining the planned inspection mark in some embodiments; Figure 4 This is a flowchart illustrating the lane centerline step in some embodiments; Figure 5 This is a flowchart illustrating the scanning area steps in some embodiments; Figure 6 This is a structural block diagram of the unmanned transport vehicle inspection and control device in some embodiments. Detailed Implementation

[0018] To make the technical solutions and advantages of this application clearer, the embodiments and related technical content of this application will be further described in detail below with reference to the accompanying drawings and text description. It should be understood that the embodiments described below are only used to explain the technical solutions of the embodiments of this application and are not intended to limit more possible implementations of this application.

[0019] It should be noted that, in the description of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0020] In a first aspect, embodiments of this application provide a method for inspecting and controlling unmanned transport vehicles. This method can be applied to, for example... Figure 1 The application environment is shown. The unmanned transport vehicle 120 includes a tractor unit 121 and a trailer 122. A vehicle-side controller 110 is built into the unmanned transport vehicle 120 and is used to execute the steps of the unmanned transport vehicle inspection and control method. During execution, the vehicle-side controller 110 can communicate with other devices or modules of the unmanned transport vehicle 120 via a network to obtain data related to the unmanned transport vehicle inspection sent by other devices or modules installed on the unmanned transport vehicle 120. The vehicle-side controller 110 can be implemented using a standalone controller or a controller cluster composed of multiple controllers.

[0021] The vehicle-mounted controller can be implemented using at least one of the following hardware forms: programmable logic array (PLA), field-programmable gate array (FPGA), digital signal processor (DSP), application-specific integrated circuit (ASIC), general-purpose processor, or other programmable logic device. The vehicle-mounted controller can also be a vehicle-mounted computer with sensing, decision-making, and communication capabilities, or a device with corresponding functions.

[0022] Of course, the unmanned transport vehicle inspection and control method provided in this application embodiment can also be applied to more scenarios not shown.

[0023] Application of unmanned transport vehicle inspection and control methods Figure 1 Taking the vehicle-side controller as an example, in some embodiments, such as Figure 2As shown, the unmanned transport vehicle inspection and control method includes steps S210, S220, S230 and S240 that can be executed by the vehicle-side controller 110.

[0024] Step S210: When the vehicle's planned inspection mark indicates that it is to be inspected, control the vehicle to drive to the inspection entrance.

[0025] A planned inspection marker is a marker generated by the dispatching system or vehicle controller based on task information when a vehicle receives a transportation task. It indicates whether the goods being transported need to be inspected. The planned inspection marker can be represented by binary identifiers; for example, 0 indicates no inspection and 1 indicates inspection is required.

[0026] The inspection entrance refers to the location of the access control system (such as turnstiles, barriers, etc.) in the area where the inspection equipment is located. The inspection entrance is equipped with devices such as cameras, scanners or RFID card readers that can collect vehicle license plate numbers, cargo box numbers and task numbers.

[0027] Step S220: If the on-site inspection mark at the inspection entrance matches the planned inspection mark, then drive the vehicle to the initial parking position according to the preset traffic lane.

[0028] The initial parking location is situated within the work area where the inspection equipment is located.

[0029] The on-site inspection marker is a real-time determination made by the access control system at the inspection entrance when a vehicle arrives at the entrance. The system collects the identification information of the transported goods and the vehicle information in real time, and then queries the system from a local or remote server based on this information. The on-site inspection marker reflects the actual deployment status of the transported goods at the current moment. The identification information of the goods can be the cargo box number and mission number, and the vehicle information can be the license plate number.

[0030] For example, when a vehicle carrying a container to be inspected arrives at the gate at the inspection entrance, the access control camera scans the container number, task number, and license plate number. The access control system can query the port database based on the task number to obtain the container number and license plate number bound to the corresponding transportation task, confirm that the container is currently under control, and if the collected license plate number is the same as the license plate number bound to the corresponding transportation task in the database, then an on-site inspection mark is generated as pending inspection.

[0031] By comparing the planned inspection mark with the on-site inspection mark, the problem of inconsistency between dispatch information and real-time on-site control status, which is common in port or logistics scenarios, can be solved, thus preventing vehicles from entering the port ineffectively.

[0032] The access control system compares the planned inspection mark of the vehicle with the on-site inspection mark. If the comparison results match, the access control is released and the vehicle is notified to enter. The vehicle controller then controls the vehicle to drive to the initial parking position.

[0033] A pre-defined traffic lane refers to a strip-shaped passageway designated in advance within the work area where the inspection equipment is located, for vehicles only. The initial parking position refers to a parking point within the work area close to the inspection equipment, typically about 1 to 3 meters away. At the initial parking position, the vehicle can obtain the position and orientation information of the inspection equipment through the onboard sensing system or the positioning interface on the inspection equipment side.

[0034] Step S230: Determine the target parking position of the vehicle based on the position and orientation information of the inspection equipment.

[0035] Inspection equipment is specialized equipment used for non-invasive scanning and inspection of transported objects (usually goods, such as containers and parcels). Its basic principle involves using X-ray imaging technology (such as X-rays and gamma rays) to penetrate the object being inspected, obtaining an image of the density distribution of the internal contents, thereby identifying the presence of contraband, dangerous goods, or goods that do not conform to the declaration. In logistics, customs, ports, airports, and other similar settings, this type of equipment is commonly referred to as a large X-ray machine, container scanning system, X-ray imaging gantry, or cargo security inspection channel equipment. This type of equipment is bulky, expensive, highly sensitive to collisions, and poses a radiation risk in the scanning area. It is typically installed in a fixed machine room or channel, and the vehicle being inspected must pass through the scanning frame of the equipment or park at a designated location to complete the imaging process.

[0036] Position information includes the location coordinates and orientation angle of the inspection equipment within the work area. Since some inspection equipment may experience slight movements along the track or base, its position is not fixed. The vehicle-mounted controller can obtain the current position of the inspection equipment in real time through sensors in the onboard sensing system (such as cameras and LiDAR) or by communicating with the positioning interface on the inspection equipment side, and dynamically calculate the target parking position based on this information.

[0037] Step S240: Control the vehicle to drive to the target parking position for inspection, and control the vehicle to leave the work area when the inspection result is qualified.

[0038] The target parking position refers to the location where, after the vehicle completes its final stop, the area to be inspected for the transported object it carries is precisely aligned with the scanning area of ​​the inspection equipment. In this application, the inspection equipment can be triggered to perform scanning once the vehicle continues to travel from the initial parking position to the target parking position and comes to a complete stop.

[0039] Inspection results refer to the judgment conclusion given by the image analysis system or human reviewers after the inspection equipment has completed scanning and imaging of the transported object. Inspection results can typically include three statuses: Pass, Fail, and Review. In addition, they can also include ongoing statuses such as Scanning, which this application does not limit.

[0040] The inspection results are returned by the inspection equipment. If the result is qualified, the vehicle-side controller will automatically control the vehicle to drive out of the work area through the inspection exit without manual intervention.

[0041] By using a dual-judgment and consistency comparison of planned and on-site inspection markers, the system can automatically identify whether the dispatch information and the real-time on-site deployment status are consistent before the vehicle enters the work area. This avoids invalid entry, lane congestion, and reversing due to information asynchrony, thereby improving the utilization efficiency of the inspection lane. By setting preset traffic lanes, the system controls vehicles to travel along fixed lanes, eliminating the risk of collisions caused by lateral obstacle avoidance in the equipment room or driver subjective deviation, effectively protecting high-value inspection equipment from damage. By dynamically generating target parking positions based on the positional information of the inspection equipment, the system can adapt to actual working conditions where the equipment moves slightly, ensuring that the vehicle is accurately aligned with the center of the scanning area every time. This avoids repeated alignment or scanning failures due to parking deviations, improving the stability and automation of the inspection operation. The entire inspection process, from entrance judgment, corridor driving, dynamic alignment to automatic departure, is automatically completed by the vehicle-side controller. There is no need for manual operations such as the driver getting off, waiting, and getting back on the vehicle, which significantly shortens the time a single vehicle occupies the inspection lane and improves the overall efficiency of the inspection task.

[0042] In some embodiments, such as Figure 3 As shown, the unmanned transport vehicle inspection and control method may also include steps S310 and S320.

[0043] Step S310: Obtain the vehicle's transportation task information.

[0044] The transportation task information includes cargo category and risk level.

[0045] Transportation task information can be a set of data contained in the work instructions issued by the dispatching system to vehicles, used to describe the basic attributes of this transportation task. Cargo category can refer to the type of goods being transported, such as tobacco and alcohol, machinery and equipment, chemicals, electronic products, daily necessities, etc. Different cargo categories correspond to different inspection probabilities or inspection requirements. Risk level can be a risk indicator obtained through a comprehensive assessment of factors such as the origin of the goods, declaration history, and trade compliance, usually divided into high, medium, and low levels, or using a numerical scoring method.

[0046] In some optional embodiments, the transportation task information is not limited to cargo category and risk level, but may also include declaration consistency marks, random inspection marks, etc., in order to more comprehensively reflect the necessity of inspection of the transported objects.

[0047] For example, in a port logistics scenario, the vehicle-side controller communicates with the port dispatch center's dispatch system to obtain the orders assigned to the vehicle by the port dispatch system, which may include transportation task information.

[0048] Step S320: Determine the planned inspection mark based on the cargo category and risk level.

[0049] In this embodiment of the application, the planned inspection mark can be determined by combining two dimensions: cargo category and risk level.

[0050] For example, if the risk level is high, the goods will be marked as pending inspection regardless of their category; if the risk level is medium and the goods belong to a sensitive category (such as tobacco, alcohol, or machinery), they will be marked as pending inspection; if the risk level is low and the goods belong to a non-sensitive category, they will be marked as exempt from inspection. This determination process can be performed manually by the relevant parties, executed by the vehicle-side controller based on a locally stored rule table, or pre-calculated and issued to the vehicles by the dispatch system.

[0051] By using cargo category and risk level as the basis for determining planned inspection targets, this solution enables refined and differentiated management of inspection needs. Compared to traditional full inspection or random sampling models, this solution can accurately screen goods based on their actual risk characteristics, thereby reducing unnecessary inspection work and improving overall inspection efficiency while ensuring safety.

[0052] In some embodiments, such as Figure 4 As shown, the unmanned transport vehicle inspection and control method may also include steps S410 and S420.

[0053] Step S410: Set the area outside the traffic lane as a non-driving area and control the vehicle to drive along the center line of the traffic lane.

[0054] The no-driving zone refers to the area within the work area where the inspection equipment is located, where vehicles are prohibited from entering.

[0055] In general autonomous driving technologies, vehicles typically plan their routes using drivable areas constructed from high-precision maps or real-time perception. Spaces outside these drivable areas are considered obstacles or danger zones. In this embodiment, non-drivable areas are manually defined based on safety policies. Specifically, areas outside the driving lanes, including the perimeter of the inspection equipment's scanning frame, equipment maintenance passages, and personnel safety zones, can be forcibly marked as non-drivable areas. This fundamentally eliminates the possibility of the vehicle-side controller entering these areas during path planning and motion control, even if these areas are physically open and free of obstacles.

[0056] The lane centerline is a virtual trajectory line drawn along the geometric center of a traffic lane; it can be a straight line or a curve. For example, if a traffic lane is designed as a straight corridor, then the lane centerline is a straight line.

[0057] Step S420: If the lateral offset of the vehicle relative to the center line of the lane exceeds a preset threshold, and / or an obstacle is detected in the driving lane, the vehicle is controlled to stop driving and wait for remote planning instructions.

[0058] Lateral offset refers to the vertical distance between the actual position of the vehicle and the center line of the lane. The preset threshold is usually a value less than half the width of the lane (e.g., 0.1 meters or 0.2 meters).

[0059] Specifically, when the lateral offset exceeds a threshold, it indicates an abnormality in vehicle control or a perception deviation. In this case, the vehicle is directly stopped and awaits remote intervention. Simultaneously, if there are obstacles in the traffic lane (such as fallen goods, abandoned tools, or unauthorized personnel), the vehicle-side controller also stops the vehicle and waits.

[0060] The vehicle-mounted controller can report problems to remote dispatchers or a remote driver's console, where humans or a higher-level decision-making system can provide the next steps, such as reversing, replanning a detour route, or waiting for obstacles to be cleared.

[0061] In addition, to further ensure the safety of high-value inspection equipment and avoid contact between the vehicle and the equipment due to vehicle control deviation, perception error or sudden situation, the vehicle-side controller can also monitor the distance between the vehicle and the inspection equipment and other fixed equipment or obstacles in real time while the vehicle is traveling along the traffic lane, and control the distance to not exceed the preset minimum distance threshold.

[0062] For example, assuming the inspection equipment and other fixed equipment and obstacles within the work area constitute an obstacle set O, the vehicle's shape can be pre-inflated (e.g., extended outward by 0.1 meters as a safety envelope based on the vehicle's actual outline). The minimum distance between the vehicle's current position x(t) and the obstacle set O is defined as dist(x(t),O). Then, the vehicle-side controller maintains dist(x(t),O) < δ_min. Here, δ_min is the minimum distance threshold, which can be set to 0.3 meters or 0.5 meters according to the actual situation, or dynamically adjusted according to the equipment sensitivity.

[0063] By forcibly designating areas outside the driving lanes as non-driving zones, the possibility of vehicles entering the protection zone around the inspection equipment due to lateral obstacle avoidance, driver misoperation, or path planning deviation is fundamentally eliminated. By requiring vehicles to drive along the center line of the lane and monitoring the threshold of lateral deviation, high-precision control of the vehicle's lateral movement is achieved. Once the deviation exceeds the preset threshold, a stop is triggered, preventing the vehicle from deviating further or even losing control due to overcorrection or control oscillation, thus ensuring the safety of the equipment in various abnormal scenarios.

[0064] In some embodiments, such as Figure 5 As shown, the unmanned transport vehicle inspection and control method may also include steps S510 and S520.

[0065] Step S510: Determine the scanning area of ​​the inspection equipment based on the pose information.

[0066] The scanning area refers to the effective spatial range within which the inspection equipment performs X-ray imaging on the goods being inspected.

[0067] Typically, the scanning area of ​​an X-ray machine is located within the internal channel of the scanning frame, determined by the geometry between the X-ray source and the detector array, and appears as a rectangular cross-sectional area with a certain width and height. Different models of X-ray machines may have variations in the center position, orientation angle, effective width, and height of their scanning area.

[0068] Specifically, the vehicle-mounted controller calculates the position and orientation of the scanning area in the current global coordinate system in real time based on the location coordinates and orientation angle of the inspection equipment, combined with the geometric parameters of the scanning area corresponding to the model of the inspection equipment.

[0069] Step S520: Based on the scanning area, calculate the target parking position according to the vehicle's basic information so that the goods to be inspected transported by the vehicle are aligned with the scanning area of ​​the inspection equipment.

[0070] The basic information of the vehicle includes at least the vehicle's dimensions, cargo location information, and cargo dimensions.

[0071] Alignment of the goods to be inspected by the vehicle with the scanning area of ​​the inspection equipment means that the spatial position of the goods to be inspected within the scanning area meets the imaging requirements of the inspection equipment. For example, for X-ray machines, the goods need to be completely within the cross-sectional area of ​​the scanning area, and the centerline of the goods usually needs to be basically coincident with the centerline of the scanning area to ensure image quality and inspection integrity.

[0072] Vehicle size information can include geometric parameters such as the vehicle's length, width, height, and wheelbase, used to determine the space occupied by the vehicle itself. In some cases, such as in ports or logistics scenarios, unmanned transport vehicles are usually container trucks. In these cases, the vehicle size information can include the length, width, and height of the tractor unit and the trailer unit, as well as geometric parameters such as the wheelbase.

[0073] Cargo location information refers to the carrying position of the transported object on the vehicle, specifically the offset of the cargo relative to the vehicle's center point, front, or rear.

[0074] Cargo dimensional information refers to the geometric measurements of the transported object in three-dimensional space, including at least its length, width, and height. Typically, the dimensions of different goods vary considerably; for example, a 20-foot container is approximately 6.1 meters long, a 40-foot container is approximately 12.2 meters long, while standard palletized cargo is usually between 1.0 and 2.5 meters long. The dimensions of the cargo directly determine the required passage space within the scanning area and the integrity requirements of the scanned image.

[0075] Cargo size information and cargo location information are used together to determine the vehicle's target parking position. Specifically, cargo location information determines the cargo's spatial position on the vehicle, i.e., the offset of the cargo coordinate system relative to the vehicle coordinate system, while cargo size information determines the spatial range occupied by the cargo, i.e., the distance from the front to the rear of the cargo. Combining these two information allows for a precise description of the cargo's complete spatial distribution in the global coordinate system, thus providing a more accurate basis for calculating the target parking position.

[0076] For example, for a combination of a tractor and a semi-trailer, the container is located on the trailer and there is a certain distance between it and the tractor. The calculation of the target parking position needs to be based on the center of the container as the target, rather than the center of the tractor or the vehicle.

[0077] The calculation of the target parking position is a relative positioning process. Specifically, the spatial position of the scanning area is first determined, and then the coordinates of the position where the vehicle should park, i.e. the target parking position, are deduced based on the vehicle's basic information.

[0078] By determining the scanning area of ​​the inspection equipment based on pose information, the target parking position is dynamically adapted to the actual position of the inspection equipment. Compared with the traditional method of pre-calibrating fixed parking points, it can effectively cope with working conditions such as track movement, installation deviation or vibration drift of the inspection equipment, and ensure that the parking accuracy of each inspection is not affected by changes in equipment position or differences in vehicle basic information, thus improving the robustness and adaptability of the system.

[0079] In some embodiments, the unmanned transport vehicle inspection control method may further include the following steps: when the vehicle arrives at the target parking position, an inspection ready signal is sent to the inspection equipment to trigger the inspection equipment to perform an inspection operation.

[0080] Reaching the target parking position can mean that the deviation between the vehicle's actual position and the target parking position meets the preset parking accuracy requirements.

[0081] Specifically, in this embodiment of the application, since the inspection equipment may have certain requirements for the scanning angle of the goods, such as requiring the axis of the goods to be perpendicular to the direction of the scanning beam, the determination of the arrival at the target parking position may include not only the matching of planar position coordinates, but also the matching of the vehicle's orientation angle.

[0082] In addition, considering that the vehicle may experience slight slippage or suspension deformation after parking, the vehicle-side controller can maintain stable detection for a period of time when it determines that the vehicle has arrived. For example, if the position deviation is less than the preset deviation threshold for 0.5 seconds, it can confirm that the vehicle has truly stopped in place.

[0083] The inspection readiness signal can be a digital status notification message that informs the inspection equipment that the vehicle has come to a complete stop and the goods are aligned with the scanning area, and that the inspection operation can begin.

[0084] Specifically, the inspection readiness signal can be transmitted via hardwired I / O signals, fieldbus communication, or wireless communication. Upon receiving the inspection readiness signal, the inspection equipment can automatically initiate the scanning process.

[0085] In some optional embodiments, the vehicle-side controller may simply send the inspection ready signal to the dispatch system. The corresponding operator in the dispatch system can then manually verify that the vehicle location, inspection environment, and inspection equipment meet the requirements before manually operating the inspection equipment to start the inspection process, thereby further ensuring the accuracy and security of the inspection process.

[0086] By automatically sending an inspection readiness signal when the vehicle arrives at the target parking position, a seamless connection between vehicle motion control and equipment inspection operation is achieved. Compared with the manual operation process in manned driving scenarios, this significantly shortens the time interval from vehicle arrival to scanning initiation and improves the throughput efficiency of the inspection channel.

[0087] In some embodiments, the unmanned transport vehicle inspection control method may further include the following steps: when the planned inspection mark of the vehicle indicates that it is exempt from inspection, the vehicle is controlled to drive to the next work node; or, after the vehicle arrives at the inspection entrance, if the on-site inspection mark is inconsistent with the planned inspection mark, the vehicle is controlled to bypass the work area and an information conflict record is reported.

[0088] "Exempt from inspection" means that, based on a comprehensive assessment of parameters such as cargo category and risk level in the transportation task information, the transported object can proceed with subsequent operations without undergoing X-ray inspection. In general ports or logistics scenarios, not all goods require X-ray inspection. For example, low-risk goods, transshipment goods that have already been inspected, and goods transported through specific green channels can be released directly without inspection.

[0089] Specifically, in scenarios where the planned inspection is marked as exempt from inspection, vehicles do not need to drive to the inspection entrance or enter the work area. Instead, they can go directly to the next work node, such as the storage yard, weighbridge, or exit gate.

[0090] Information conflict logs refer to event logs showing discrepancies between planned inspection results and on-site inspection results. Information conflict logs typically include fields such as the time and location of the conflict, vehicle identification, transport object identification, planned inspection marker value, on-site inspection marker value, and possible causes. Upon receiving an information conflict log, the dispatch system or other remote control terminals can automatically or manually update dispatch information and correct the deployment database to prevent information inconsistencies from recurring for the same transport object in subsequent processes.

[0091] When a vehicle is marked as exempt from inspection, it is directly controlled to proceed to the next work node, achieving precise diversion of vehicles exempt from inspection. Compared to the traditional method where vehicles still need to enter the inspection area and be manually judged for release, this avoids invalid path occupation and waste of channel resources, improves the effective utilization rate of inspection channels, and also reduces the invalid mileage and energy consumption of vehicles. When the on-site inspection mark is inconsistent with the planned inspection mark, the vehicle is detoured and the information conflict record is reported, which effectively solves the common problem of asynchronous dispatch information and on-site deployment status in port operations. At the same time, the conflict record drives the back-end system to complete the information correction, avoiding the recurrence of the same error.

[0092] In some embodiments, the unmanned transport vehicle inspection and control method may further include the following steps: when the inspection result is unqualified, control the vehicle to drive to a preset abnormal waiting area and report an abnormality notification.

[0093] Reasons for non-compliance during inspection may include abnormal internal structure of the goods, density distribution that does not match the declaration, suspected concealment of contraband, and insufficient image quality for judgment.

[0094] An abnormal waiting area can be a pre-designated parking area within or near the work area for the temporary parking of vehicles that fail inspection and the goods they are transporting. In general ports or logistics scenarios, abnormal waiting areas are usually located near the exit of the X-ray machine room but in a location that does not affect normal passage, and are equipped with conditions such as safety isolation, monitoring coverage, and easy manual intervention.

[0095] An anomaly notification refers to an alarm message automatically sent by a vehicle to a remote dispatch system, on-site management platform, or designated personnel terminal after receiving a non-compliance inspection result. The anomaly notification may include: the vehicle's identification (e.g., license plate number), the transport object's identification (e.g., container number), the reason for non-compliance (e.g., X-ray image anomaly type), the vehicle's current location (coordinates of the anomaly waiting area), and a timestamp, among other key information. Anomaly notifications can be sent via wireless communication or an on-site industrial network.

[0096] By setting up an abnormal waiting area and an abnormal notification reporting mechanism, it is ensured that unqualified vehicles will not automatically enter the next operation stage, fundamentally eliminating the risk of unqualified goods continuing to circulate. Furthermore, vehicles automatically enter the abnormal waiting area, eliminating the need for staff to operate within the inspection channel, reducing operational safety risks, while ensuring the continuous availability of the inspection channel and improving overall customs clearance efficiency.

[0097] It should be understood that, although Figures 2 to 5 The steps in the flowchart are shown sequentially according to the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Figures 2 to 5 Unless otherwise expressly stated herein, the steps illustrated and other steps involved in the embodiments are not subject to strict order restrictions and may be performed in other orders. Furthermore, at least some steps in the foregoing embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0098] In a second aspect, embodiments of this application provide an inspection and control device for unmanned transport vehicles, such as... Figure 6 As shown, the unmanned transport vehicle inspection control device 600 includes: a planned inspection determination module 610, an access module 620, a location determination module 630, and an inspection result determination module 640.

[0099] The planned inspection determination module 610 is used to control the vehicle to drive to the inspection entrance when the planned inspection mark of the vehicle indicates that it is to be inspected; The access module 620 is used to drive the vehicle to the initial parking position according to the preset passage lane if the on-site inspection mark determined at the inspection entrance is consistent with the planned inspection mark. The location determination module 630 is used to determine the target parking position of the vehicle based on the position and pose information of the inspection equipment; the initial parking position is located in the work area where the inspection equipment is located. The inspection result determination module 640 is used to control the vehicle to drive to the target parking position for inspection, and to control the vehicle to leave the work area when the inspection result is qualified.

[0100] In some embodiments, the unmanned transport vehicle inspection control device 600 further includes: The acquisition unit (not shown) is used to acquire the vehicle's transportation task information; the transportation task information includes cargo category and risk level. Marking unit (not shown) is used to determine the planned inspection mark based on the cargo category and risk level.

[0101] In some embodiments, the admission module 620 further includes: The driving control unit (not shown) is used to set areas outside the driving lanes as non-driving areas and control the vehicle to drive along the center line of the driving lane. The lane constraint unit (not shown) is used to control the vehicle to stop and wait for remote planning instructions if the lateral deviation of the vehicle relative to the center line of the lane exceeds a preset threshold and / or an obstacle is detected in the driving lane.

[0102] In some embodiments, the location determination module 630 further includes: The scanning area determination unit (not shown) is used to determine the scanning area of ​​the inspection device based on pose information. The calculation unit (not shown) is used to calculate the target parking position based on the scanning area and the vehicle's basic information, so that the goods to be inspected transported by the vehicle are aligned with the scanning area of ​​the inspection equipment; wherein, the vehicle's basic information includes at least the vehicle's size information, the goods' location information, and the goods' size information.

[0103] In some embodiments, the unmanned transport vehicle inspection control device 600 further includes: The signal transmitting unit (not shown) is used to send an inspection ready signal to the inspection equipment when the vehicle arrives at the target parking position, so as to trigger the inspection equipment to perform the inspection operation.

[0104] The unmanned transport vehicle inspection and control device 600 also includes: The detour control unit (not shown) is used to control the vehicle to travel to the next work node when the planned inspection mark of the vehicle indicates that it is exempt from inspection; or, after the vehicle arrives at the inspection entrance, if the on-site inspection mark is inconsistent with the planned inspection mark, the vehicle is controlled to bypass the work area and the information conflict record is reported.

[0105] The unmanned transport vehicle inspection and control device 600 also includes: The anomaly control unit (not shown) is used to control the vehicle to a preset anomaly waiting area and report an anomaly notification when the inspection result is unqualified.

[0106] For further specific limitations regarding the unmanned vehicle inspection and control device, please refer to the limitations of the unmanned vehicle inspection and control device method described above. The unmanned vehicle inspection and control device can also be used to execute further steps of the unmanned vehicle inspection and control device method in the embodiments of this application, which will not be repeated here. Each module in the above-described unmanned vehicle inspection and control device can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0107] In a third aspect, embodiments of this application provide an unmanned transport vehicle that can, as Figure 1 As shown, the unmanned transport vehicle 120 includes the unmanned transport vehicle inspection and control device 600 provided in the second aspect of this application embodiment.

[0108] In some alternative embodiments, the unmanned transport vehicle inspection control device 600 may be integrated into the vehicle-side controller 110; alternatively, the unmanned transport vehicle inspection control device 600 may be independent of the vehicle-side controller 110 and communicate with it via a network. This application does not impose any limitations on this.

[0109] In a fourth aspect, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the unmanned transport vehicle inspection and control method provided in any embodiment of the first aspect of this application.

[0110] The computer-readable storage medium may be a non-volatile storage medium.

[0111] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The aforementioned computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments of this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0113] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A method for inspecting and controlling unmanned transport vehicles, characterized in that, The method includes: When the planned inspection mark of the vehicle indicates that it is to be inspected, control the vehicle to drive to the inspection entrance; If the on-site inspection mark determined at the inspection entrance is consistent with the planned inspection mark, the vehicle will be driven to the initial parking position according to the preset traffic lane; the initial parking position is located in the work area where the inspection equipment is located. Based on the position information of the inspection equipment, the target parking position corresponding to the vehicle is determined; The vehicle is controlled to drive to the target parking position for inspection, and when the inspection result is qualified, the vehicle is controlled to leave the work area.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the transportation task information of the vehicle; the transportation task information includes cargo category and risk level; The planned inspection mark is determined based on the cargo category and risk level.

3. The method according to claim 1, characterized in that, The step of driving the vehicle to the initial parking position according to the preset traffic lane includes: The area outside the traffic lane is designated as a non-driving area, and the vehicle is controlled to travel along the center line of the traffic lane. If the lateral deviation of the vehicle relative to the center line of the lane exceeds a preset threshold, and / or an obstacle is detected in the traffic lane, the vehicle is controlled to stop and wait for remote planning instructions.

4. The method according to claim 1, characterized in that, Determining the target parking position of the vehicle based on the position information of the inspection equipment includes: The scanning area of ​​the inspection device is determined based on the pose information; Based on the scanning area, the target parking position is calculated according to the basic information of the vehicle, so that the goods to be inspected transported by the vehicle are aligned with the scanning area of ​​the inspection equipment; wherein, the basic information of the vehicle includes at least the vehicle's size information, the goods' location information, and the goods' size information.

5. The method according to claim 1, characterized in that, The method further includes: When the vehicle arrives at the target parking location, an inspection ready signal is sent to the inspection equipment to trigger the inspection equipment to perform the inspection operation.

6. The method according to claim 1, characterized in that, The method further includes: When the planned inspection mark of the vehicle indicates that it is exempt from inspection, the vehicle is controlled to proceed to the next work node; Alternatively, if the on-site inspection mark is inconsistent with the planned inspection mark after the vehicle arrives at the inspection entrance, the vehicle is controlled to bypass the work area, and an information conflict record is reported.

7. The method according to claim 1, characterized in that, The method further includes: If the inspection result is unqualified, the vehicle is controlled to drive to a preset abnormal waiting area, and an abnormality notification is reported.

8. A control device for inspecting unmanned transport vehicles, characterized in that, The device includes: The planned inspection determination module is used to control the vehicle to drive to the inspection entrance when the planned inspection mark of the vehicle indicates that it is to be inspected; The access module is used to drive the vehicle to the initial parking position according to the preset passage lane if the on-site inspection mark determined by the inspection entrance is consistent with the planned inspection mark; the initial parking position is located in the work area where the inspection equipment is located. The location determination module is used to determine the target parking position of the vehicle based on the position and pose information of the inspection equipment; The inspection result determination module is used to control the vehicle to drive to the target parking position for inspection, and to control the vehicle to leave the work area when the inspection result is qualified.

9. An unmanned transport vehicle, characterized in that, The unmanned transport vehicle includes the unmanned transport vehicle inspection and control device as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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