WO2018201354A1

WO2018201354A1 - Control method and device for automatic transportation apparatus, and storage medium

Info

Publication number: WO2018201354A1
Application number: PCT/CN2017/082924
Authority: WO
Inventors: 刘均; 刘新; 宋朝忠
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2017-05-03
Filing date: 2017-05-03
Publication date: 2018-11-08
Also published as: CN110383190A

Abstract

A control method for an automatic transportation apparatus comprises the following steps: acquiring an address at which a cargo is currently loaded, a destination address entered by a user and a communication number entered by the user (S10); generating a plurality of driving routes according to the address at which the cargo is currently loaded and the destination address, and selecting the optimal driving route among the generated driving routes (S20); upon detecting an automatic driving command, controlling a current automatic transportation apparatus to automatically drive according to the optimal driving route (S30); and upon arriving at the destination address, outputting, to the communication number, information indicating arrival of the cargo at the destination address (S40). The method can reduce occurrence of traffic congestion and accidents, facilitate efficient utilization of labors and other social resources, and improve the efficiency of cargo transportation.

Description

Control method, device and storage medium for automatic transportation equipment

Technical field

The present invention relates to the field of automatic driving, and in particular to a method, device and computer readable storage medium for controlling an automatic transportation device.

Background technique

As 21 In the transportation of the century, cars play an important role in the working life of human beings and become an indispensable part of thousands of families. There are more and more vehicles on the road, more and more crowded, and the road conditions are becoming more and more complicated.

At present, the traditional transportation system is that the driver drives the vehicle autonomously on the road, so the cargo transportation is generally carried out by the driver to drive the goods to the destination. However, when the driver drives the goods to the destination, the driver will be fatigued and unable to work for a long time. Especially when the transportation distance is long, the driver needs to drive at night, which is easy to cause traffic accidents and social property. And the safety of life has caused considerable threats; and, through the driver's cargo transportation, it will cause waste of personnel resources and increase transportation costs.

Summary of the invention

The main object of the present invention is to provide a control method, a device and a computer readable storage medium for an automatic transportation device, which aim to solve the problem that traffic transportation by a driver is easy to cause a traffic accident, which poses a considerable threat to social property and life safety. And it will cause waste of personnel resources and improve the technical cost of transportation costs.

To achieve the above object, the present invention provides a method of controlling an automatic transportation device, the method comprising:

Obtaining the current loaded shipping cargo address, the destination address entered by the user, and the communication number entered by the user;

Generating a plurality of driving routes according to the current loading and shipping cargo address and the destination address, and selecting an optimal driving route according to the generated driving route;

When the automatic driving instruction is detected, controlling the current automatic transportation device to automatically drive according to the optimal driving route;

When the destination address is reached, information indicating that the goods arrive at the destination address is output to the communication number.

In addition, in order to achieve the above object, the present invention also provides a control device for an automatic transportation device, the device comprising: a processor and a memory, wherein the memory stores a control program of the automatic transportation device; and the processor is configured to execute the The control program of the automatic transportation device is described to implement the steps of the above control method of the automatic transportation device.

The control method, device and computer readable storage medium of the automatic transportation device proposed by the invention obtain the current loading cargo address, the destination address input by the user and the communication number input by the user; and then according to the current loading cargo address and purpose The address generates a plurality of driving routes, and selects an optimal driving route according to the generated driving route; when the automatic driving instruction is detected, controlling the current automatic transportation device to automatically travel according to the optimal driving route, the goods can be transported to the destination address. It does not require human driving, thereby reducing the occurrence of traffic accidents, improving social property and life safety, and saving personnel resources, thereby reducing transportation costs; when arriving at the destination address, outputting goods to the communication number The destination address information, in order to remind the corresponding personnel to place the goods transported to the destination address to ensure the safety of the goods.

DRAWINGS

1 is a schematic flow chart of a first embodiment of a method for controlling an automatic transportation device according to the present invention;

2 is a refinement process of a step of generating a plurality of driving routes according to the current loading and unloading cargo address and a destination address according to the second embodiment of the present invention, and selecting an optimal driving route according to the generated driving route; schematic diagram;

3 is a schematic flow chart of a third embodiment of a method for controlling an automatic transportation device according to the present invention;

4 is a schematic flow chart of a fourth embodiment of a method for controlling an automatic transportation device according to the present invention;

5 is a schematic flow chart of a fifth embodiment of a method for controlling an automatic transportation device according to the present invention;

6 is a schematic flow chart of a sixth embodiment of a method for controlling an automatic transportation device according to the present invention;

7 is a schematic flow chart of a seventh embodiment of a method for controlling an automatic transportation device according to the present invention;

FIG. 8 is a schematic structural diagram of a device in a hardware operating environment according to an embodiment of the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The main solution of the embodiment of the present invention is: obtaining the current loaded transport cargo address, the destination address input by the user, and the communication number input by the user; and then generating a plurality of driving routes according to the current loaded shipping cargo address and the destination address, and according to The generated driving route selects an optimal driving route; when the automatic driving instruction is detected, the current automatic transportation device is controlled to automatically travel according to the optimal driving route, and the cargo can be transported to the destination address without manual driving, thereby reducing The occurrence of traffic accidents improves social property and life safety, and saves personnel resources, thereby reducing transportation costs; when the destination address is reached, the information of the goods arriving at the destination address is output to the communication number, so as to remind the corresponding personnel The goods transported to the destination address are placed to ensure the safety of the goods.

The embodiment of the present invention considers that in the prior art, autonomously driving a vehicle is generally performed by a driver. The disadvantage of the solution is that the driver drives the vehicle to the destination by autonomous driving, and the driver is fatigued and cannot be long. Time work, especially when the transportation distance is long, the driver needs to drive at night, which is easy to cause traffic accidents, which poses a considerable threat to social property and life safety. Moreover, the transportation of goods by the driver will result in personnel resources. Waste, increase transportation costs.

To this end, an embodiment of the present invention provides a method for controlling an automatic transportation device, which acquires a current loading cargo address, a destination address input by a user, and a communication number input by a user; and then generates an address based on the current loaded shipping cargo and a destination address. a plurality of driving routes, and selecting an optimal driving route according to the generated driving route; when the automatic driving instruction is detected, controlling the current automatic transportation device to automatically travel according to the optimal driving route, the goods can be transported to the destination address, It requires human driving, which reduces the occurrence of traffic accidents, improves social property and life safety, and saves personnel resources, thereby reducing transportation costs. When the destination address is reached, the goods are delivered to the destination address. Information to remind the corresponding personnel to place the goods transported to the destination address to ensure the safety of the goods.

1 is a schematic flow chart of a first embodiment of a method for controlling an automatic transportation device according to the present invention.

In this embodiment, the method includes:

Step S10, obtaining the current loading cargo address, the destination address input by the user, and the communication number input by the user;

In the present embodiment, various embodiments of the present invention are implemented by an automatic transport device, an automatic transport device (Autonomous Vehicles; Self-piloting automobile Also known as driverless equipment, computer driving equipment, or wheeled mobile robots, it is a smart device that realizes driverless driving through a computer system, and more specifically, implements various aspects of the present invention through a computer system in an automatic transportation device. Example. Moreover, the onboard unit is mounted on the automatic transportation device, and the onboard unit may be a Redbox, a Tbox or other communication unit. For on-board units, it can be based on ADAS (Advanced Driver Assistant System, advanced driver assistance system), ADAS is a variety of sensors installed in the car, in the process of driving the device to sense the surrounding environment, collect data, static, dynamic object identification, detection and tracking And combined with the navigation map data, the system calculation and analysis, so as to effectively avoid other vehicles and pedestrians on the road, effectively increase the comfort and safety of driving. Effectively reduce driving risk and ultimately achieve the goal of zero death.

Specifically, when detecting that the user loads the transported goods, the autopilot device activates the positioning module, acquires the current location, and obtains the destination address of the transported cargo through the user input. Further, the user can input the communication number so that when the transported goods arrive at the destination, the corresponding person is notified by the automatic transport device to arrange the transported goods.

Step S20, generating a plurality of driving routes according to the current loaded shipping cargo address and the destination address, and selecting an optimal driving route according to the generated driving route;

After obtaining the current loaded shipping cargo address and the destination address, a plurality of driving routes are generated according to the current loading and shipping cargo address and the destination address. It can be understood that there may be multiple driving routes, and the processor may be according to each driving route. Driving time and driving distance select the driving route and then select the optimal driving route. Specifically, the method for selecting the optimal route is as follows: 1. The time taken by each route can be directly selected, and the route with the least time is selected as the optimal route; second, or according to each route. The itinerary can be selected, and the route with the shortest trip is taken as the optimal route. Third, the optimal route can be selected according to the time spent by each route and the weight between the trips. The invention preferably adopts a third selection method, that is, adding a calculation weight to the travel time of each route according to the stroke of each route, wherein the longer the travel distance, the larger the calculation weight; and then the calculated weight is the smallest. The route corresponding to the travel time is used as the optimal travel route.

Step S30, when the automatic driving instruction is detected, controlling the current automatic transportation device to automatically drive according to the optimal driving route;

After selecting the optimal driving route, the current automatic transportation device can be controlled to automatically travel according to the optimal driving route, and the cargo can be transported to the destination address input by the user, without the driver driving autonomously, and automatically Driving can avoid traffic accidents caused by poor driver driving skills, thus reducing traffic accidents. Further, by planning the driving route, traffic congestion is avoided, thereby reducing the time to reach the destination address and improving the user experience.

Step S40, when the destination address is reached, output information of the arrival destination address of the goods to the communication number.

After the automatic transportation device is controlled to automatically travel according to the optimal driving route, when the destination address is reached, the information of the cargo arrival destination address may be output to the communication number, so that the relevant personnel can place the cargo, and further, The information of the arrival of the goods to the destination address may be output to the communication number within a preset time distance from the destination address, so that the relevant personnel know in advance that the goods are about to reach the destination address, so that the relevant personnel can plan the time to reach the destination address.

The control method of the automatic transportation device proposed by the embodiment obtains the current loading cargo address, the destination address input by the user, and the communication number input by the user; and then generates a plurality of driving routes according to the current loading and shipping cargo address and the destination address, And selecting an optimal driving route according to the generated driving route; when the automatic driving instruction is detected, controlling the current automatic transportation device to automatically travel according to the optimal driving route, the goods can be transported to the destination address without manual driving, Thereby reducing the occurrence of traffic accidents, improving social property and life safety, and saving personnel resources, thereby reducing transportation costs; when reaching the destination address, outputting information of the goods to the destination address to the communication number, so as to remind The corresponding personnel will arrange the goods transported to the destination address to ensure the safety of the goods.

Further, referring to Fig. 2, a second embodiment of the control method of the automatic transporting apparatus of the present invention is proposed based on the first embodiment of the control method of the automatic transporting apparatus of the present invention.

In this embodiment, the step S20 includes:

Step S21, calculating the travel time and travel distance of each travel route;

Step S22, adding a calculation weight to the travel time according to the travel distance, wherein the longer the travel distance, the larger the calculation weight;

Step S23, calculating the travel time of each travel route according to the added calculation weight value, and using the calculated travel route with the shortest weighted travel time as the selected optimal travel route.

In this embodiment, the method for calculating the optimal route may be: first calculating the travel time and the travel distance of each travel route, and then adding a calculation weight to the travel time according to the travel distance, wherein the longer the travel distance, the more the calculation weight is. And calculating the travel time of each travel route according to the added calculation weight, and pushing the calculated travel route with the shortest weighted travel time as the optimal travel route to the user. In the actual calculation process, the travel time can be multiplied by the corresponding weight value to obtain the weighted travel time, and then the calculated travel route with the minimum weighted travel time is used as the optimal travel route.

Further, referring to Fig. 3, a third embodiment of the control method of the automatic transporting apparatus of the present invention is proposed based on the first embodiment of the control method of the automatic transporting apparatus of the present invention.

In this embodiment, after the step S30, before step S40, the method further includes:

Step S50, recording the traveled trajectory according to the current loaded transport cargo address and the destination address, and generating the traveled route according to the traveled trajectory, wherein the traveled route includes the automatic transport equipment from the current loading transport cargo address to the destination address during the driving process. The shape of the lane track, the sequence of road names that pass in sequence;

Step S60, recording the traveling speed of the automatic transportation device from the current loading and transporting cargo address to the destination address;

In step S70, the traveled route and the travel speed are used as references for generating the travel route.

In the embodiment, in the process of automatic driving of the automatic transportation device, the trajectory of the automatic transportation device is recorded according to the current loading and transportation cargo address and the destination address of the automatic transportation device, and the current road condition is monitored to obtain intelligence. The road condition information such as the sequence of road names passed by the skateboard, and then the travel route is generated according to the traveled trajectory, wherein the travel route includes the shape of the trajectory during the driving process from the current loading transport cargo address to the destination address, and the road passing through a sequence of names; then further, recording the travel speed of the automatic transport device from the current loading transport cargo address to the destination address, in particular, the travel speed of the automatic transport device can be recorded in segments, such as dividing the trip into segments Then, the speed of each segment is recorded, and the real-time speed of the automatic transport equipment can also be recorded to better understand the real-time speed of the automatic transport equipment during driving. After obtaining the traveled route and the travel speed, when the route to be traveled is subsequently generated, it can be used as a reference to avoid the road where the road is congested.

When there is a special situation of congestion on the driving route, the driving route is changed in time to avoid the automatic transportation equipment being blocked on the driving route, thereby avoiding unnecessary time waste, thereby improving the travel efficiency of the user.

The control method of the automatic transportation device proposed in this embodiment firstly records the traveled trajectory according to the current loaded transport cargo address and the destination address during the running of the automatic transport device, and generates a traveled route according to the traveled trajectory, wherein the driven route has been driven. The route includes the shape of the driving track during the driving from the current loading and transporting cargo address to the destination address, and the sequence of road names passing through; and then further recording the automatic transporting device from the current loading and transporting cargo address to the destination address. The driving speed; the recorded driving route and the traveling speed are used as reference for generating the driving route, so that in the process of the user's subsequent travel, when the special situation of congestion occurs on the to-be-traveled route, the driving route is changed in time to avoid automatic transportation. The equipment is blocked on the driving route, avoiding unnecessary waste of time, thereby improving the travel efficiency of the user.

Further, referring to Fig. 4, a fourth embodiment of the control method of the automatic transport apparatus of the present invention is proposed based on the third embodiment of the control method of the automatic transport apparatus of the present invention.

In this embodiment, after the step S60, the method further includes:

In step S80, the road condition information of the automatic driving route is recorded according to the optimal driving route, wherein the road condition information includes current road condition information of the road corresponding to each road name, and the current road condition information includes the current road traffic volume of the corresponding road, and the current Water accumulation, current construction status, current air quality, current traffic conditions;

In step S90, the traveled route, the travel speed, and the road condition information are used as a reference for generating a travel route.

In this embodiment, during the running of the automatic transportation device, in addition to recording the traveled trajectory and the travel record, the road condition information of the travel route may be further recorded, wherein the road condition information includes current road condition information of the road corresponding to each road name. The current road condition information includes the current road traffic volume of the corresponding road, the current water accumulation amount, the current construction state, the current air quality, and the current traffic condition; when the road condition information is obtained and the driving route is congested or difficult to pass, the road is congested. The information is recorded, specifically, the road condition on each road of the route of the route is obtained according to the road condition information, and the road condition on each road according to the route of the route and the road layout around the route are poor on the road route (the road condition is poor) Refers to the excessive amount of vehicles (ie greater than the preset amount of vehicles), excessive water accumulation (ie greater than the preset amount of water), road construction, traffic accidents, poor air quality (ie PM2.5 is greater than the preset value), etc. Case) Save. When the road condition information analysis is obtained, it is found that the custom driving route does not have congestion or is easy to pass, and the information that the road is unblocked is saved. In order to generate the driving route in the subsequent process, the road condition information is used as a reference for generating the driving route, so that the automatic transportation equipment avoids the roads that are unfavorable for driving, such as large traffic flow, large construction traffic, and large traffic flow during driving. Reduce congestion time and improve user experience.

The control method of the automatic transportation device proposed in this embodiment records the road condition information of the automatic driving route according to the optimal driving route during the running of the automatic transportation device, wherein the road condition information includes the current road name corresponding to each road name The road condition information includes the current road traffic volume of the corresponding road, the current water accumulation amount, the current construction state, the current air quality, and the current traffic condition; and then the traveled route, the travel speed, and the road condition information are used as the generated travel route. The reference makes the automatic transportation equipment avoid the roads that are not conducive to driving, such as large traffic flow and large traffic volume during driving, thereby reducing congestion time and improving user experience.

Further, referring to FIG. 5, a fourth embodiment of the control method of the automatic transportation device of the present invention is proposed based on the third embodiment of the control method of the automatic transportation device of the present invention.

In this embodiment, after the step S30, the method further includes:

Step S100, calculating a time to reach the destination address according to the selected optimal driving route and the departure time;

Step S110: When the current time is the time to reach the destination address, determine whether the current address is consistent with the destination address.

Step S120: If the current address is consistent with the destination address, control the automatic transport device to stop automatic driving, and output information of the goods to the destination address to the communication number.

In this embodiment, after the automatic transportation device starts to travel, the time to reach the destination address can be calculated according to the selected optimal driving route and the departure time; when the current time is the time to reach the destination address, the current address is obtained, and the current address is determined. Whether the current address and the destination address are consistent; if the current address is consistent with the destination address, controlling the automatic transport device to stop the automatic driving, and outputting the information of the goods to the destination address to the communication number, so that the relevant personnel can place the transported goods. . Further, if the current address does not match the destination address, it is necessary to determine whether the current driving route is correct. If the current driving route is incorrect, the current driving route is re-adjusted. If the current route is correct, the current address and the destination address are Analyze the cause of the inconsistency, such as delays caused by traffic jams, etc., then continue driving according to the current route, and feedback the delay and delay time to the communication number. In order to make the relevant personnel more accurately grasp the time when the goods arrive at the destination address, make reasonable arrangements for their own itinerary.

The control method of the automatic transportation device proposed in the embodiment, when the automatic transportation device starts to travel, the time to reach the destination address can be calculated according to the selected optimal driving route and the departure time; when the current time is the time to reach the destination address, Determining whether the current address is consistent with the destination address; if the current address is consistent with the destination address, controlling the automatic transport device to stop automatic driving, and outputting information of the goods to the destination address to the communication number, so that the relevant personnel are informed When the transported goods arrive at the destination address, the transported goods are placed.

Further, referring to Fig. 6, a sixth embodiment of the control method of the automatic transporting apparatus of the present invention is proposed based on the fifth embodiment of the control method of the automatic transporting apparatus of the present invention.

In this embodiment, the step after the step S110 further includes:

Step S130, if the current address does not match the destination address, extract a driving track shape of the traveled route in the current driving route;

Step S140, determining whether the shape of the driving track of the traveled route in the current driving route matches the shape of the track of the corresponding route in the optimal driving route;

Step S150: If the shape of the driving trajectory of the travel route in the current driving route matches the trajectory shape of the corresponding route in the optimal driving route, continue to control the automatic transportation device to perform automatic driving according to the optimal driving route, and according to the current The address recalculates the time to reach the destination address, and when the time to the destination address is reached, the information of the goods arriving at the destination address is output to the communication number.

In this embodiment, after the time corresponding to the destination address is obtained, the current address is obtained, and after determining whether the current address and the destination address are consistent, if the current address and the destination address are inconsistent, it is necessary to further determine whether the driving route of the automatic transportation device is Correct, therefore, it is necessary to extract the shape of the driving track of the travel route in the current driving route, and then determine whether the shape of the driving track of the traveled route in the current driving route matches the shape of the track according to the corresponding route in the optimal driving route; if the current driving route is in the current driving route The shape of the driving path of the driven route matches the shape of the trajectory of the corresponding route in the optimal driving route, indicating that the current driving route of the automatic transportation device is correct, and therefore, the automatic transportation device can be continuously controlled according to the optimal driving route for automatic driving. . At this point, the reason for not reaching the destination address on time can be further analyzed, and the driving speed of the automatic transportation device can be adjusted according to the analyzed reason, and then the time to reach the destination address is recalculated according to the current address and the adjusted speed, and the time of recalculation will be calculated. Feedback to the person corresponding to the communication number; so that the user can know the specific situation of the cargo transportation.

Further, referring to Fig. 7, a seventh embodiment of the control method of the automatic transport apparatus of the present invention is proposed based on the first embodiment of the control method of the automatic transport apparatus of the present invention.

Step S160, real-time monitoring the personnel and vehicle concentration of the undriven road in the road through which the selected optimal driving route passes;

Step S170, during the running, the traveling speed of the automatic transportation device is changed according to the detected personnel and vehicle density.

In the embodiment, in the process of the automatic transportation device performing the automatic driving according to the optimal driving route, the personnel and the vehicle concentration of the untraveled road in the road passing through the optimal driving route can be monitored in real time, thereby acquiring the road ahead. Pedestrian and vehicle conditions in order to regulate the speed of the automatic transport equipment. Specifically, the feedback of the roadside unit can be used to know the density of people and vehicles in the road; when the automatic transportation equipment is running, when the intensity of personnel or vehicles in the road is monitored, or the concentration of people and vehicles is monitored When the height is relatively high, the driving speed of the automatic transportation equipment can be appropriately reduced. Among them, the personnel and the vehicle condition of the road can be adopted according to the distance set by the user. For example, when the distance set by the user is 20 meters, only 20 meters is used. Speed changes can be made to the personnel and vehicle density of the roads within the road.

The control method of the automatic transportation device proposed in this embodiment monitors the personnel and vehicle density of the untraveled road in the road through which the selected optimal driving route passes in real time; and then, according to the detected personnel and vehicle intensiveness during driving, The degree of change of the speed of the automatic transport equipment is prevented, and the automatic transport equipment is prevented from colliding in a place where people or vehicles are dense, thereby improving the safety of driving.

The invention further provides a control device for an automatic transport device.

As shown in FIG. 8, FIG. 8 is a schematic structural diagram of a terminal in a hardware operating environment according to an embodiment of the present invention.

The control device of the automatic transport device may include a processor 1001, such as a CPU, and a memory 1002. Connection communication between these components can be achieved via a communication bus. The memory 1002 may be a high speed RAM memory or a stable memory (non-volatile) Memory), such as disk storage. The memory 1002 can also optionally be a storage device independent of the aforementioned processor 1001.

Optionally, the control device of the automatic transportation device may further include a user interface, a network interface, a camera, and an RF (Radio) Frequency, RF) circuits, sensors, audio circuits, WiFi modules, and more. The user interface may include a display, an input unit such as a keyboard, and the optional user interface may also include a standard wired interface, a wireless interface. The network interface can optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

It will be understood by those skilled in the art that the control device structure of the automatic transport device shown in FIG. 8 does not constitute a limitation of the control device of the automatic transport device, and may include more or less components than those illustrated, or a combination of certain Parts, or different parts.

As shown in FIG. 8, a memory 1002 as a computer storage medium may include an operating system and a control program of the automatic transportation device. Among them, the operating system is a program for managing and controlling the automatic transport equipment control equipment = hardware and software resources, supporting the control program of the automatic transport equipment and the operation of other software or programs.

In the control device of the automatic transport device shown in FIG. 8, the processor 1001 may be used to execute a control program of the automatic transport device stored in the memory 1002 to implement the steps of the above-described control method of the automatic transport device.

The specific embodiment of the control device for the automatic transportation device of the present invention is substantially the same as the embodiment of the control method for the automatic transportation device, and is not described herein.

The present invention provides a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the automated transport device described above The steps of the control method.

The specific embodiment of the computer readable storage medium of the present invention is substantially the same as the control method of the automatic transportation device and the control device of the automatic transportation device, and details are not described herein.

It is also to be understood that the term "comprises", "comprising", or any other variants thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a And includes other elements not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a number of instructions for causing a terminal device (which may be a cell phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods of various embodiments of the present invention.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A method of controlling an automatic transportation device, characterized in that the method comprises the following steps:

Obtaining the current loaded shipping cargo address, the destination address entered by the user, and the communication number entered by the user;

Generating a plurality of driving routes according to the current loading and shipping cargo address and the destination address, and selecting an optimal driving route according to the generated driving route;

When the automatic driving instruction is detected, controlling the current automatic transportation device to automatically drive according to the optimal driving route;

When the destination address is reached, information indicating that the goods arrive at the destination address is output to the communication number.
The control method of the automatic transportation device according to claim 1, wherein the step of generating a plurality of driving routes based on the current loaded shipping cargo address and the destination address, and selecting an optimal driving route based on the generated driving route include:

Calculate the travel time and travel distance of each travel route;

Calculating a weight according to the travel distance to the travel time, wherein the longer the travel distance, the greater the calculation weight;

Calculating the travel time of each of the travel routes according to the added calculation weights, and calculating the calculated travel route with the shortest weighted travel time as the selected optimal travel route.
The control method of the automatic transportation device according to claim 1, wherein the step of controlling the current automatic transportation device to automatically travel according to the optimal driving route when the automatic driving instruction is detected is reached At the destination address, before outputting the information of the goods to the destination address to the communication number, the method further includes:

Recording the traveled trajectory according to the current loaded transport cargo address and the destination address, and generating the traveled route according to the traveled trajectory, wherein the traveled route includes the trajectory of the automatic transport device from the current loading and transporting cargo address to the destination address during driving a shape, a sequence of road names that pass in sequence;

Recording the travel speed of the automatic transport equipment from the current loading transport cargo address to the destination address;

The traveled route and the travel speed are used as references for generating a travel route.
The control method of the automatic transportation device according to claim 3, wherein the step of recording the automatic transportation device from the current loading of the transportation cargo address to the driving speed during the driving of the destination address further comprises:

The road condition information of the automatic driving route is recorded according to the optimal driving route, wherein the road condition information includes current road condition information of the road corresponding to each road name, and the current road condition information includes the current road traffic volume of the corresponding road and the current water storage amount. , current construction status, current air quality, current traffic conditions;

The traveled route, the travel speed, and the road condition information are used as a reference for generating a travel route.
The control method of the automatic transportation device according to claim 1, wherein the step of controlling the automatic transportation device to automatically travel according to the optimal driving route when the automatic driving instruction is detected further comprises:

Calculate the time to reach the destination address based on the selected optimal driving route and departure time;

When the current time is the time to reach the destination address, it is determined whether the current address is consistent with the destination address;

And if the current address is consistent with the destination address, controlling the automatic transport device to stop automatic driving, and outputting information of the goods to the destination address to the communication number.
The method of controlling the automatic transportation device according to claim 5, wherein the step of determining whether the current address is consistent with the destination address further comprises:

If the current address does not match the destination address, extracting a shape of a driving track of the traveled route in the current driving route;

Determining whether the shape of the driving track of the traveled route in the current driving route matches the shape of the track of the corresponding route in the optimal driving route;

If the shape of the driving path of the travel route in the current driving route matches the shape of the trajectory of the corresponding route in the optimal driving route, continue to control the automatic transportation device for automatic driving according to the optimal driving route, and recalculate according to the current address. The time at which the destination address is reached, and when the time to the destination address is reached, the information of the goods arriving at the destination address is output to the communication number.
The control method of the automatic transportation device according to claim 1, wherein the step of controlling the current automatic transportation device to automatically travel according to the optimal driving route when the automatic driving instruction is detected is reached At the destination address, before outputting the information of the goods to the destination address to the communication number, the method further includes:

Real-time monitoring of the personnel and vehicle intensity of untraveled roads in the selected route through which the selected optimal driving route passes;

During driving, the speed of the automated transport equipment is changed based on the detected personnel and vehicle density.
A control device for an automatic transportation device, characterized in that the control device of the automatic transportation device comprises a processor and a memory, wherein the memory stores a control program of the automatic transportation device; the processor is configured to perform the automatic transportation The device's control program to implement the following steps:

Obtaining the current loaded shipping cargo address, the destination address entered by the user, and the communication number entered by the user;

Generating a plurality of driving routes according to the current loading and shipping cargo address and the destination address, and selecting an optimal driving route according to the generated driving route;

When the automatic driving instruction is detected, controlling the current automatic transportation device to automatically drive according to the optimal driving route;

When the destination address is reached, information indicating that the goods arrive at the destination address is output to the communication number.
The control device of the automatic transportation device according to claim 8, wherein the processor is further configured to execute a control program of the automatic transportation device to implement the following steps:

Calculate the travel time and travel distance of each travel route;

Calculating a weight according to the travel distance to the travel time, wherein the longer the travel distance, the greater the calculation weight;

Calculating the travel time of each of the travel routes according to the added calculation weights, and calculating the calculated travel route with the shortest weighted travel time as the selected optimal travel route.
The control device of the automatic transportation device according to claim 8, wherein the processor is further configured to execute a control program of the automatic transportation device to implement the following steps:

Recording the traveled trajectory according to the current loaded transport cargo address and the destination address, and generating the traveled route according to the traveled trajectory, wherein the traveled route includes the trajectory of the automatic transport device from the current loading and transporting cargo address to the destination address during driving a shape, a sequence of road names that pass in sequence;

Recording the travel speed of the automatic transport equipment from the current loading transport cargo address to the destination address;

The traveled route and the travel speed are used as references for generating a travel route.
The control device of the automatic transportation device according to claim 10, wherein the processor is further configured to execute a control program of the automatic transportation device to implement the following steps:

The road condition information of the automatic driving route is recorded according to the optimal driving route, wherein the road condition information includes current road condition information of the road corresponding to each road name, and the current road condition information includes the current road traffic volume of the corresponding road and the current water storage amount. , current construction status, current air quality, current traffic conditions;

The traveled route, the travel speed, and the road condition information are used as a reference for generating a travel route.
The control device of the automatic transportation device according to claim 8, wherein the processor is further configured to execute a control program of the automatic transportation device to implement the following steps:

Calculate the time to reach the destination address based on the selected optimal driving route and departure time;

When the current time is the time to reach the destination address, it is determined whether the current address is consistent with the destination address;

And if the current address is consistent with the destination address, controlling the automatic transport device to stop automatic driving, and outputting information of the goods to the destination address to the communication number.
The control device of the automatic transportation device according to claim 12, wherein the processor is further configured to execute a control program of the automatic transportation device to implement the following steps:

If the current address does not match the destination address, extracting a shape of a driving track of the traveled route in the current driving route;

Determining whether the shape of the driving track of the traveled route in the current driving route matches the shape of the track of the corresponding route in the optimal driving route;

If the shape of the driving path of the travel route in the current driving route matches the shape of the trajectory of the corresponding route in the optimal driving route, continue to control the automatic transportation device for automatic driving according to the optimal driving route, and recalculate according to the current address. The time at which the destination address is reached, and when the time to the destination address is reached, the information of the goods arriving at the destination address is output to the communication number.
The control device of the automatic transportation device according to claim 8, wherein the processor is further configured to execute a control program of the automatic transportation device to implement the following steps:

Real-time monitoring of the personnel and vehicle intensity of untraveled roads in the selected route through which the selected optimal driving route passes;

During driving, the speed of the automated transport equipment is changed based on the detected personnel and vehicle density.
A computer readable storage medium, characterized in that the computer readable storage medium stores one or more programs, the one or more programs being executable by one or more processors to implement the following steps:

Obtaining the current loaded shipping cargo address, the destination address entered by the user, and the communication number entered by the user;

Generating a plurality of driving routes according to the current loading and shipping cargo address and the destination address, and selecting an optimal driving route according to the generated driving route;

When the automatic driving instruction is detected, controlling the current automatic transportation device to automatically drive according to the optimal driving route;

When the destination address is reached, information indicating that the goods arrive at the destination address is output to the communication number.
The computer readable storage medium of claim 15 wherein said one or more programs are executable by said one or more processors, further implementing the steps of:

Calculate the travel time and travel distance of each travel route;

Calculating a weight according to the travel distance to the travel time, wherein the longer the travel distance, the greater the calculation weight;

Calculating the travel time of each of the travel routes according to the added calculation weights, and calculating the calculated travel route with the shortest weighted travel time as the selected optimal travel route.
The computer readable storage medium of claim 15 wherein said one or more programs are executable by said one or more processors, further implementing the steps of:

Recording the traveled trajectory according to the current loaded transport cargo address and the destination address, and generating the traveled route according to the traveled trajectory, wherein the traveled route includes the trajectory of the automatic transport device from the current loading and transporting cargo address to the destination address during driving a shape, a sequence of road names that pass in sequence;

Recording the travel speed of the automatic transport equipment from the current loading transport cargo address to the destination address;

The traveled route and the travel speed are used as references for generating a travel route.
The computer readable storage medium of claim 17, wherein the one or more programs are executable by the one or more processors, further implementing the steps of:

The road condition information of the automatic driving route is recorded according to the optimal driving route, wherein the road condition information includes current road condition information of the road corresponding to each road name, and the current road condition information includes the current road traffic volume of the corresponding road and the current water storage amount. , current construction status, current air quality, current traffic conditions;

The traveled route, the travel speed, and the road condition information are used as a reference for generating a travel route.
The computer readable storage medium of claim 15 wherein said one or more programs are executable by said one or more processors, further implementing the steps of:

Calculate the time to reach the destination address based on the selected optimal driving route and departure time;

When the current time is the time to reach the destination address, it is determined whether the current address is consistent with the destination address;

And if the current address is consistent with the destination address, controlling the automatic transport device to stop automatic driving, and outputting information of the goods to the destination address to the communication number.
The computer readable storage medium of claim 19, wherein the one or more programs are executable by the one or more processors, further implementing the steps of:

If the current address does not match the destination address, extracting a shape of a driving track of the traveled route in the current driving route;

Determining whether the shape of the driving track of the traveled route in the current driving route matches the shape of the track of the corresponding route in the optimal driving route;

If the shape of the driving path of the travel route in the current driving route matches the shape of the trajectory of the corresponding route in the optimal driving route, continue to control the automatic transportation device for automatic driving according to the optimal driving route, and recalculate according to the current address. The time at which the destination address is reached, and when the time to the destination address is reached, the information of the goods arriving at the destination address is output to the communication number.