Multi-vehicle control system for parallel tracks

Abstract

The utility model relates to the technical field of artificial intelligence and unmanned vehicles, and provides a multi-vehicle control system for a parallel track, and the multi-vehicle control system employs an obtaining unit to obtain the radar data of the environment in front of a current vehicle; analyzing the radar data through a control unit, and screening out effective radar data corresponding to a front vehicle according to echo intensity information of reflective film materials on the back surfaces of the current vehicle and the front vehicle on the same track; the effective radar data of the monitoring unit is used for obtaining the distance value between the current vehicle and the front vehicle located on the same track, the distance value is monitored in real time, and then the speed of the current vehicle is controlled according to the monitoring result, so that the detection heights of the laser radars of the parallel trolleys among the parallel tracks are inconsistent by adopting a differential structure; the phenomenon of mistaken braking caused by interference and false triggering of the trolleys on the adjacent tracks on the trolleys on the current track is improved, and then the effect of improving the running effect of multiple parallel vehicles on the parallel tracks is achieved.

Description

Technical Field

[0001] The present disclosure relates to the fields of artificial intelligence and unmanned vehicle technology, and in particular to a multi-vehicle control system for parallel tracks. Background Art

[0002] With the development of logistics industry and artificial intelligence technology at home and abroad, express intelligent sorting technology is becoming more and more mature, and the links that require human intervention are becoming less and less. Express intelligent sorting technology can be briefly divided into several aspects: identification, loading and unloading. The express intelligent sorting line, different from the traditional cross-belt sorting express technology, uses an express sorting cart for intelligent sorting of express.

[0003] The express sorting cart moves on a circular track, dragging multiple rotatable sorting rollers to sort the express. If several carts are distributed (the number of carts connected in series in a single train is ≥ 2), the express sorting cart train uses a cart as the front drive, and multiple carts are cascaded in sequence. Each cart is equipped with multiple rotatable sorting rollers to sort express. Multiple express sorting cart trains can be deployed on a single track. When such multiple express sorting cart trains run on a circular monorail, our most important premise is to ensure safety and prevent vehicle collisions. The vehicle collision avoidance uses a laser radar installed on the front of the train for ranging to achieve the purpose of collision avoidance.

[0004] In order to improve space utilization, multiple layers of tracks are further distributed in the same space of the express sorting line. Each layer of track is divided into two layers of parallel tracks, the inner and outer layers of parallel tracks are designed with equal heights, and the interval between the tracks is 1.8m, which is convenient for setting up the parcel delivery area. This facilitates infrastructure construction while also causing a new problem. The single track uses a circular track that is connected end to end. In order to achieve the same anti-collision effect on the curve as on the straight road, the anti-collision radius of the laser radar needs to be set at a larger angle. Only when the angle is large can we easily identify the stopped car in advance in the curve area. However, on the straight road, the laser radar with the same anti-collision radius will be mistakenly triggered by the parallel car on the parallel track, resulting in the false braking of the normal car on the current track, affecting the vehicle's operation effect and express sorting efficiency. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a multi-vehicle control system for parallel tracks, which can improve the vehicle operation effect and system operation efficiency of multiple vehicles running in parallel on the parallel tracks.

[0006] The present disclosure provides a multi-vehicle control system for parallel tracks, wherein a plurality of vehicles running on the parallel tracks are controlled by signals of the multi-vehicle control system to start and stop and exchange data respectively, wherein the multi-vehicle control system comprises:

[0007] an acquisition unit, the acquisition unit being respectively connected to a first laser radar at a front end of a first vehicle on the first track and a second laser radar at a front end of a second vehicle on the second track, for respectively acquiring radar data of an environment in front of the current vehicle, the radar data including angle information, distance information and echo intensity information;

[0008] A control unit, used to analyze the radar data, and filter out valid radar data corresponding to the preceding vehicle based on the echo intensity information of the reflective film material on the back of the preceding vehicle on the same track as the current vehicle;

[0009] a monitoring unit, configured to obtain a distance value between a current vehicle and a preceding vehicle on the same track according to the effective radar data, monitor the distance value in real time, generate a feedback signal when the distance value reaches a preset safety distance threshold interval, brake the current vehicle according to the feedback signal, and restore the current vehicle speed after the distance value leaves the safety distance threshold interval,

[0010] The first track and the second track are parallel tracks with the same horizontal position, and the detection heights of the first laser radar and the second laser radar are different.

[0011] In some embodiments, the multi-vehicle control system sets the height position of the first laser radar at the front end of the first vehicle to a first horizontal height, and sets the height position of the second laser radar at the front end of the second vehicle to a second horizontal height, and the first horizontal height is not equal to the second horizontal height.

[0012] In some embodiments, the height interval of the reflective film on the back of the vehicles on the first track set by the multi-vehicle control system does not overlap with the height interval of the reflective film on the back of the vehicles on the second track in the vertical direction.

[0013] In some embodiments, the multi-vehicle control system sets a reflective film height interval on the back of the vehicles on the first track and a reflective film height interval on the back of the vehicles on the second track separated by a preset safety distance in the vertical direction. The preset safety distance indicates that the detection heights of the laser radars at different levels do not overlap or the detection data are significantly different.

[0014] The beneficial effects of the utility model are as follows: the utility model provides a multi-vehicle control system for parallel tracks, comprising: an acquisition unit, the acquisition unit is respectively connected to a first laser radar at the front end of a first vehicle on the first track and a second laser radar at the front end of a second vehicle on the second track, and is used to respectively acquire radar data of the environment in front of the current vehicle, the radar data including angle information, distance information and echo intensity information; a control unit, used to parse the radar data, and filter out valid radar data corresponding to the front vehicle according to the echo intensity information of the reflective film material on the back of the current vehicle and the front vehicle on the same track as the front vehicle; a monitoring unit, used to obtain the distance value between the current vehicle and the front vehicle on the same track as the front vehicle according to the valid radar data, monitor the distance value in real time, and generate a feedback signal when the distance value reaches a preset safety distance threshold interval, brake the current vehicle according to the feedback signal, and restore the current vehicle speed after the distance value leaves the safety distance threshold interval, wherein the first track and the second track are parallel tracks with the same horizontal position, and the detection heights of the first laser radar and the second laser radar are different. Therefore, the parallel track multi-vehicle control scheme disclosed in the present invention can adopt a differential structure to make the detection heights of the laser radars of the parallel vehicles on the parallel multi-tracks inconsistent, effectively improving the phenomenon that the laser radar of the vehicle on the current track among the parallel vehicles may cause the vehicle on the current track to stop due to the abnormality of the vehicle in front on the parallel track being recognized, thereby improving the vehicle operation effect of multiple vehicles in parallel on parallel tracks and improving the system operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings.

[0016] Figure 1 The interference diagram of the laser radar on different parallel tracks when falsely triggered in the prior art is shown;

[0017] Figure 2 A partial schematic diagram showing a parallel track multi-vehicle control scenario provided by an embodiment of the utility model;

[0018] Figure 3 A schematic flow chart of a multi-vehicle control method for parallel tracks provided by an embodiment of the utility model is shown;

[0019] Figure 4 A schematic diagram showing the structure of a radar data packet in a multi-vehicle control system in an embodiment of the utility model is shown;

[0020] Figure 5 A schematic diagram showing the structure of a multi-vehicle control system for parallel tracks provided by an embodiment of the utility model is shown;

[0021] Figure 6 A schematic diagram of the structure of a server provided by an embodiment of the utility model is shown. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the accompanying drawings. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the content of the present invention more thorough and comprehensive.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0024] With the rapid development of the e-commerce industry and the growing strength of the logistics industry, logistics automation technology has been widely used in the industry. The automatic sorting system is one of the important technologies, which has a wide range of application value in logistics distribution, express delivery, warehouse management and other fields. And with the development of artificial intelligence and Internet of Things technology, the functions of the automatic sorting system have become more and more perfect, and the stability, safety and reliability have also been greatly improved.

[0025] The existing automatic sorting system is a technology that automatically handles logistics sorting, classification, packaging, and transportation through machines and computer control in the process of moving items from a distribution center to a destination. The automatic sorting system is mainly composed of conveyor belts, scanning equipment, sorters, control systems and other equipment, which can quickly and accurately sort items to designated locations and classify and pack them. The conveyor belt is the most basic component of the automatic sorting system. It is responsible for transporting items to designated locations, usually using rollers or belt conveyors. The scanning device is responsible for scanning items, usually using a laser scanner or camera, and determines the attributes and destination of the items by identifying the barcode or QR code on the items. The sorter is the core component of the automatic sorting system. It grabs or pushes items from the conveyor belt to designated locations or vehicles through mechanical arms, pneumatic devices, etc., and realizes functions such as sorting and classification. The control system is the brain of the automatic sorting system, which can perform data processing, equipment control, fault diagnosis, and error prevention.

[0026] However, there are still some problems in the existing automatic sorting system. For example, the control of multiple vehicles on a circular track may cause accidental collisions due to the time difference between adjacent vehicles in handling abnormal situations. During the movement of vehicles, the control system takes a long time to identify the safety reaction of the front vehicle from the radar data. With the increase of system functions, the complexity of hardware facilities will also require the presence of engineering personnel due to the handling of various abnormal situations. In addition, in the process, the sorted packages are still manually diverted in sequence, which still leads to poor timeliness and low efficiency.

[0027] The following embodiments of the present invention rely on the application scenarios of artificial intelligence unmanned vehicles in automatic sorting systems. Different from the prior art in which the sorted packages are manually diverted in sequence at the back end of the process, the unmanned vehicle control system is connected to the Internet for information sharing, which expands the post-sorting storage capacity to a certain extent, reduces the number of manual diversions and operation time, and improves the degree of automation and system efficiency through further process improvements.

[0028] On this basis, in order to improve space utilization, multiple layers of tracks are distributed in the same space of the express sorting line. Each layer of track is divided into inner and outer layers of tracks. The inner and outer layers of tracks are designed with equal heights. However, this design will cause the laser radars with the same anti-collision radius to be mistakenly triggered by the cars on the parallel tracks during the straight sections of the operation of multiple cars on the parallel tracks, resulting in false braking. Figure 1 The figure shows the interference diagram of the laser radar on parallel tracks when it is falsely triggered in the prior art. The laser radar has an anti-collision angle of 90 degrees and an anti-collision radius of 6m (Note: a radius of 6m means that the main vehicle speed is fast and the braking distance is large, about 4.5m; the angle of 90 degrees is because the turning radius in the curve area is large to prevent collision accidents in the curve. The distance between the two parallel tracks of the same height is about 1.8m). During the operation of parallel tracks, when multiple vehicles are running, the laser radar installed at the front position will be falsely triggered to stop because it recognizes the adjacent track, affecting the operation effect of multiple vehicles in parallel and the express sorting efficiency.

[0029] Based on this, the following embodiments of the utility model further solve the problem that an abnormal trolley on a parallel track during the operation of multiple vehicles on parallel tracks is mistakenly triggered by a normal trolley on the current track, resulting in incorrect braking, thereby improving the operation effect of multiple vehicles in parallel and the operation efficiency of the express sorting system.

[0030] Below, the utility model is described in detail with reference to the accompanying drawings.

[0031] Figure 2 A partial schematic diagram showing a parallel track multi-vehicle control scenario provided by an embodiment of the utility model is shown. Figure 3 A schematic diagram showing a flow chart of a multi-vehicle control method for parallel tracks provided by an embodiment of the utility model is shown. Figure 4A schematic diagram of the structure of a radar data packet in a multi-vehicle control system in an embodiment of the utility model is shown.

[0032] refer to Figure 2 In the embodiment of the utility model, based on the application scenario of an artificial intelligence unmanned vehicle in an automatic sorting system, the parallel tracks include, for example, 10A and 10B, and a number of vehicles 100 are distributed on the two parallel tracks, such as vehicle 100_a and vehicle 100_b. A plurality of vehicles run on two parallel tracks 10A and 10B to sort express parcels. Of course, the vehicle 100 here can be a singular concept, that is, a single car; or a plural concept, a train of multiple vehicles connected in series. In the following embodiments, the current vehicle and the front vehicle located in front of the current vehicle in the direction of travel are equivalent to the aforementioned concept of the train. Because the spacing between the cascaded cars in the train is fixed, for the convenience of description, it is simplified to vehicles. The front end of the vehicle means the front end of the first car located at the front end of the train, and the rear end of the vehicle means the back of the car located at the rear end of the train. The rear end of the vehicle is provided with a specially marked high-reflective object, such as a reflective film of a special material (used to distinguish by echo intensity information in tests at different distances and reflective areas). In various embodiments of the utility model, by using a laser radar to sense obstacles and measure distances, and using specially marked high-reflective objects to filter out non-vehicle obstacles on the circular track in a complex environment, the response time is shortened in radar information interaction, thereby improving the response speed of vehicle control, thereby improving the anti-collision safety of multi-vehicle control.

[0033] Furthermore, in order to solve the problem that the laser radars with the same anti-collision radius may be mistakenly triggered by the vehicles on the parallel tracks on a straight track, resulting in false braking, in this embodiment, a differential structure is adopted to make the detection heights of the laser radars on different tracks in the parallel tracks inconsistent, such as Figure 2 As shown, it ensures that the previous car is accurately identified on the current track, and it can also ensure that when multiple cars are running in parallel, the car on the current track will not be mistakenly triggered to stop because the laser radar identifies the car on the parallel track.

[0034] refer to Figure 2 The present utility model embodiment provides a multi-vehicle control method for parallel tracks, which includes:

[0035] S110: Acquire radar data of the front environment using a first laser radar located at the front end of the first vehicle on the first track.

[0036] S120: Utilize a second laser radar located at the front end of a second vehicle on a second track to acquire radar data of the front environment, and control the detection heights of the first laser radar and the second laser radar to be different.

[0037] In step S110 and step S120, the first track 10A and the second track 10B are parallel tracks at the same horizontal position. Figure 2 As shown. The laser radar we use is a linear plane laser radar, which is a typical laser radar designed based on the principle of pulsed time of flight (pToF). The internal components of the product include: laser, photodetector, optical system, timer, etc. The core principle of its ranging is to emit a pulsed laser through a laser and start a timer. When the laser hits the target surface, it will be diffusely reflected and return to the photodetector. After receiving the signal, the photodetector stops the timer. At this time, the time difference between the laser receiving and the emission moment is obtained, which is the flight time of light. Multiplying the speed of light by the flight time of light gives the flight distance of light, thereby calculating the distance from the device to the measured target. The radar data contains angle information, distance information and echo intensity information. The specific radar data is shown as follows: Figure 4 shown.

[0038] In some embodiments, the step of controlling the first laser radar and the second laser radar to have different detection heights includes:

[0039] The height position of the first laser radar 110-a at the front end of the first vehicle 100-a is set to a first horizontal height, such as d1, and the height position of the second laser radar 110-b at the front end of the second vehicle 100-b is set to a second horizontal height, such as d2, and the first horizontal height is not equal to the second horizontal height, forming a height difference Δd, such as Figure 2 shown.

[0040] S130: Analyze the radar data to obtain a distance value between the current vehicle and the vehicle ahead of it on the same track.

[0041] In step S130, the step of using the laser radar located at the front end of the current vehicle to obtain radar data of the front environment includes: obtaining a preset test comparison table of laser radar echo intensity, the index factors of the test comparison table may include the test distance, the radar reflection width of the target object and the material of the target object, and the obtained index value is the echo intensity value.

[0042] It is known that the radar will collect radar data of various objects in the environment in front of the current vehicle within its anti-collision angle range, and the target object we want to obtain is the front vehicle on the same track. Compared with the front vehicle on the same track, other objects including vehicles on parallel tracks are interference obstacles, which we hope to filter out from the radar data. The conventional approach has a large amount of calculation and a long time, which will seriously affect the actual production application, prolong the response time of communication interaction, and have low operating efficiency.

[0043] Based on the complex environment on site, the embodiment of the utility model uses a special marking method in step S130 to filter out effective obstacles, using echo intensity, i.e., RSSI parameter, which specifically means the laser reflection intensity of the target object. After a large number of tests, it was found that the use of diamond-grade high-reflection (reflective film) can make the echo intensity of the target object reach a maximum level of 255 within a distance of 20m. By affixing diamond-grade high-reflection and reflective film at the corresponding position on the back of each vehicle, the height (the aforementioned detection height) is guaranteed to be within 15cm above and below the radar ray emission horizontal line, leaving the error caused by the laser and the inclination of the horizontal line caused by factors such as track vibration, and by filtering the distance information of the point where the echo intensity is the maximum value, the effective obstacles on the track are distinguished.

[0044] In this step, the effective radar data corresponding to the vehicle in front can be filtered out by looking up the table based on the echo intensity information of the reflective film material on the back of the current vehicle and the vehicle in front of it on the same track, and the distance value between the current vehicle and the vehicle in front of it on the same track in the effective radar data can be confirmed based on the detection height of the laser radar of the current vehicle.

[0045] S140: monitor the distance value in real time, and generate a feedback signal when the distance value reaches a preset safety distance threshold interval, brake the current vehicle according to the feedback signal, and restore the current vehicle speed after the distance value leaves the safety distance threshold interval.

[0046] In step S140, the step of monitoring the distance value in real time, generating a feedback signal when the distance value reaches a preset safety distance threshold interval, and braking the current vehicle according to the feedback signal includes:

[0047] Obtaining a preset safety distance threshold interval corresponding to the current vehicle speed, wherein the maximum value of the safety distance threshold interval represents the minimum driving distance for the current vehicle to drive safely, and the minimum value of the safety distance threshold interval represents the minimum braking distance for emergency braking of the current vehicle,

[0048] The distance value is monitored in real time, and when the distance value is less than the maximum value of the safety distance threshold interval, an effective feedback signal is generated, and when the distance value reaches the minimum value of the safety distance threshold interval, the current vehicle is braked to slow down or braked to stop.

[0049] In some embodiments, after the distance value deviates from the safety distance threshold interval, the step of starting the current vehicle includes:

[0050] The distance value is monitored in real time, and when the distance value is greater than a minimum value of the safety distance threshold interval, the current vehicle speed is restored in response to the feedback signal.

[0051] In some embodiments, the multi-vehicle control method further includes:

[0052] The height interval of the reflective film on the back of the vehicle arranged on the first track 10A and the height interval of the reflective film on the back of the vehicle arranged on the second track 10B do not overlap in the vertical direction.

[0053] In some other embodiments, the multi-vehicle control method further includes:

[0054] The height interval of the reflective film on the back of the vehicle set on the first track 10A is separated from the height interval of the reflective film on the back of the vehicle set on the second track 10B by a preset safety distance in the vertical direction. The preset safety distance indicates that the detection heights of the laser radars at different levels do not overlap or the detection data are significantly different.

[0055] In some embodiments, the multi-vehicle control method further includes: adjusting the preset safety distance threshold interval according to the current vehicle speed.

[0056] Therefore, the parallel track multi-vehicle control scheme of the embodiment of the utility model can adopt a differential structure to make the detection heights of the laser radars of the parallel vehicles between the parallel multi-tracks inconsistent, effectively improving the phenomenon that the laser radar of the vehicle on the current track among the parallel vehicles will cause the vehicle on the current track to stop due to the abnormality of the vehicle in front on the parallel track, thereby improving the vehicle operation effect of multiple vehicles in parallel on parallel tracks and improving the system operation efficiency.

[0057] In the actual production environment, the on-site staff only need to use the radar bracket with a differential height structure to set up the radar at different horizontal heights. After the radar bracket is set up, the corresponding laser radar is installed. Since the laser radar we use is a linear laser radar, it only generates rays in one dimension. Therefore, by making the laser radars installed on different tracks at different heights and the high and low areas of the ray distribution different, the problem of vehicles running in parallel on parallel tracks being falsely triggered to stop can be solved to a large extent. In the subsequent testing and operation process, when the vehicles on the two parallel tracks were running in parallel, there was no false triggering state in which the laser radar of the vehicle on the current track sensed the anti-collision signal generated by the vehicle on the parallel track and stopped.

[0058] Figure 5 A schematic structural diagram of a multi-vehicle control system for parallel tracks provided by an embodiment of the utility model is shown.

[0059] refer to Figure 5The embodiment of the utility model further provides a multi-vehicle control system 10 for parallel tracks. Multiple vehicles running on parallel tracks (such as 10A and 10B) are controlled by the signal control of the multi-vehicle control system 10 to start, stop and exchange data respectively. The multi-vehicle control system 10 includes: an acquisition unit 11, a control unit 12, a monitoring unit 13 and a storage unit 14.

[0060] The acquisition unit 11 is respectively connected to the first laser radar 110-a at the front end of the first vehicle 100-a on the first track 10A and the second laser radar 110-b at the front end of the second vehicle 100-b on the second track 10B, for respectively acquiring radar data of the environment in front of the current vehicle, wherein the radar data includes angle information, distance information and echo intensity information;

[0061] The control unit 12 is used to analyze the radar data, and filter out valid radar data corresponding to the front vehicle according to the echo intensity information of the reflective film material on the back of the current vehicle and the front vehicle on the same track;

[0062] The monitoring unit 13 is used to obtain a distance value between the current vehicle and the vehicle ahead of it on the same track according to the effective radar data, monitor the distance value in real time, and generate a feedback signal when the distance value reaches a preset safety distance threshold interval, brake the current vehicle according to the feedback signal, and restore the current vehicle speed after the distance value leaves the safety distance threshold interval.

[0063] The first track 10A and the second track 10B are parallel tracks with the same horizontal position, and the detection heights of the first laser radar 110 - a and the second laser radar 110 - b are different.

[0064] The storage unit 14 stores a preset test comparison table of the echo intensity of the laser radar 110, wherein the index factors of the test comparison table include the test distance, the radar reflection width of the target object and the material of the target object, and the obtained index value is the echo intensity value, as well as a preset set of safety distance threshold intervals corresponding to different vehicle speeds, wherein the maximum value of the safety distance threshold interval represents the minimum driving distance for the current vehicle to drive safely, and the minimum value of the safety distance threshold interval represents the minimum braking distance for emergency braking of the current vehicle.

[0065] Combination Figure 2In some embodiments, the multi-vehicle control system 10 sets the height position of the first laser radar 110-a at the front end of the first vehicle 100-a to a first horizontal height, such as d1, and sets the height position of the second laser radar 110-b at the front end of the second vehicle 100-b to a second horizontal height, such as d2, and the first horizontal height is not equal to the second horizontal height, that is, a height difference Δd is formed.

[0066] In some embodiments, the height interval of the reflective film on the back of the vehicles on the first track 10A set by the multi-vehicle control system 10 does not overlap with the height interval of the reflective film on the back of the vehicles on the second track 10B in the vertical direction.

[0067] In other embodiments, the multi-vehicle control system 10 sets a height interval of the reflective film on the back of the vehicle on the first track 10A and a height interval of the reflective film on the back of the vehicle on the second track 10B separated by a preset safety distance in the vertical direction. The preset safety distance indicates that the detection heights of the laser radars located at different horizontal heights do not overlap or the detection data are significantly different.

[0068] Since the laser radar we use is a linear laser radar, it only generates rays in one dimension. Therefore, by making the laser radars installed on different tracks at different heights and the rays distributed in different high and low areas, we can largely solve the problem of vehicles running on parallel tracks being triggered to stop by mistake. In the subsequent testing and operation process, when the vehicles on two parallel tracks were running in parallel, there was no false triggering state where the laser radar of the vehicle on the current track sensed the anti-collision signal generated by the vehicle on the parallel track and stopped.

[0069] Therefore, the parallel track multi-vehicle control scheme of the embodiment of the utility model can adopt a differential structure to make the detection heights of the laser radars of the parallel vehicles between the parallel multi-tracks inconsistent, effectively improving the phenomenon that the laser radar of the vehicle on the current track among the parallel vehicles will cause the vehicle on the current track to stop due to the abnormality of the vehicle in front on the parallel track, thereby improving the vehicle operation effect of multiple vehicles in parallel on parallel tracks and improving the system operation efficiency.

[0070] This embodiment uses a radar bracket with a differential height structure to set up the radar at different horizontal heights. By utilizing the differential structure, when the parallel tracks are flat, when multiple vehicles are running on the parallel tracks to sort express deliveries, the laser radar of the vehicle on the current track can be basically avoided from false triggering and causing the brake anti-collision reaction due to recognition of the vehicle on the parallel track, thus avoiding midway stops, and greatly improving the efficiency and effect of vehicle sorting.

[0071] Figure 6 A schematic diagram of the structure of a server provided by an embodiment of the utility model is shown.

[0072] Based on the same inventive concept, the embodiment of the present utility model also proposes a block diagram of an exemplary server suitable for implementing the first embodiment of the present utility model. It should be understood that: Figure 6 The server shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present utility model.

[0073] In the embodiment of the present utility model, Figure 6 As shown, the server 200 is in the form of a general-purpose computing device. The components of the server 200 may include, but are not limited to: one or more processors or processing units 210, a memory 220, and a bus 201 connecting different system components (including the memory 220 and the processing unit 210).

[0074] Bus 201 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0075] The server 200 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the server 200, including volatile and non-volatile media, removable and non-removable media.

[0076] System memory 220 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 221 and / or cache memory 222. Server 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 223 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 201 via one or more data medium interfaces. The memory 220 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of each embodiment of the utility model.

[0077] A program / utility 224 having a set (at least one) of program modules 2241 may be stored in, for example, the memory 220. Such program modules 2241 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include the implementation of a network environment. The program modules 2241 generally perform the functions and / or methods described in the embodiments of the present utility model.

[0078] Further, the server 200 may also be connected to a display 300 for displaying effective radar data of the parallel vehicles on the parallel tracks and real-time monitoring of the distance values. The display 300 may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display 300 may also be a display screen or a touch screen with an input device.

[0079] Further, the server 200 may also communicate with one or more devices that enable a user to interact with the server 200, and / or with any device that enables the server 200 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 230. Furthermore, the server 200 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 240. Figure 6 As shown, the network adapter 240 communicates with other modules of the server 200 via the bus 201. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the server 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0080] The processing unit 210 executes various functional applications and data processing by running the programs stored in the system memory 220, such as implementing the multi-vehicle control method for parallel tracks provided in the first embodiment of the present utility model.

[0081] Based on the same inventive concept, the embodiment of the utility model further provides a computer-readable storage medium, on which a computer program (or computer executable instructions) is stored. When the program is executed by a processor, it is used to execute the multi-vehicle control method for parallel tracks provided in the first embodiment of the utility model, and the method includes:

[0082] Acquire radar data of a front environment using a first laser radar located at a front end of a first vehicle on a first track, wherein the radar data includes angle information, distance information, and echo intensity information;

[0083] Acquire radar data of the front environment by using a second laser radar located at the front end of the second vehicle on the second track, wherein the first track and the second track are parallel tracks with the same horizontal position, and the detection heights of the first laser radar and the second laser radar are controlled to be different;

[0084] The radar data is parsed to obtain a distance value between the current vehicle and the vehicle ahead of it on the same track, and a feedback signal is generated when the distance value reaches a preset safety distance threshold interval, and the current vehicle is braked according to the feedback signal, and the current vehicle speed is restored after the distance value leaves the safety distance threshold interval.

[0085] Based on the same inventive concept, an embodiment of the present utility model further proposes a computer-readable storage medium on which a computer program is stored, wherein when the program is executed by a processor, the multi-vehicle control method for parallel tracks as described above is implemented.

[0086] The computer storage medium of the embodiment of the utility model can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiment of the utility model, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0087] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0088] The program code included in the computer-readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination mentioned above. The computer program code for executing the operation of the utility model embodiment can be written with one or more programming languages ​​or their combination, and the aforementioned programming language includes object-oriented programming languages ​​(such as Java, Smalltalk, C++), and also includes conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer, partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect to the Internet).

[0089] It should be noted that in the description of the present invention, it is necessary to understand that the terms "upper", "lower", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0090] In addition, in this article, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0091] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the present invention.

Claims

1. A multi-vehicle control system for parallel tracks, wherein multiple vehicles running on the parallel tracks are controlled by the signal control of the multi-vehicle control system to start and stop and exchange data respectively, wherein: The multi-vehicle control system comprises: an acquisition unit, the acquisition unit being respectively connected to a first laser radar at a front end of a first vehicle on the first track and a second laser radar at a front end of a second vehicle on the second track, for respectively acquiring radar data of an environment in front of the current vehicle, the radar data including angle information, distance information and echo intensity information; A control unit, used to analyze the radar data, and filter out valid radar data corresponding to the preceding vehicle based on the echo intensity information of the reflective film material on the back of the preceding vehicle on the same track as the current vehicle; a monitoring unit, configured to obtain a distance value between a current vehicle and a preceding vehicle on the same track according to the effective radar data, monitor the distance value in real time, generate a feedback signal when the distance value reaches a preset safety distance threshold interval, brake the current vehicle according to the feedback signal, and restore the speed of the current vehicle after the distance value leaves the safety distance threshold interval, The first track and the second track are parallel tracks with the same horizontal position, and the detection heights of the first laser radar and the second laser radar are different.

2. The multi-vehicle control system for parallel tracks according to claim 1, wherein: The height position of the first laser radar at the front end of the first vehicle is set to a first horizontal height, and the height position of the second laser radar at the front end of the second vehicle is set to a second horizontal height, and the first horizontal height is not equal to the second horizontal height.

3. The multi-vehicle control system for parallel tracks according to claim 1, wherein: The height interval of the reflective film disposed on the back of the vehicle on the first track and the height interval of the reflective film disposed on the back of the vehicle on the second track do not overlap in the vertical direction.

4. The multi-vehicle control system for parallel tracks according to claim 1, wherein: The height interval of the reflective film on the back of the vehicle on the first track is separated from the height interval of the reflective film on the back of the vehicle on the second track by a preset safety distance in the vertical direction. The preset safety distance indicates that the detection heights of the laser radars at different horizontal heights do not overlap or the detection data are obviously different.

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