CN113985867B

CN113985867B - Carrier control method, system, electronic equipment, medium and carrier

Info

Publication number: CN113985867B
Application number: CN202111109121.6A
Authority: CN
Inventors: 宋永利
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Filing date: 2021-09-22
Publication date: 2024-07-12
Anticipated expiration: 2041-09-22

Abstract

The application provides a carrier control method, a system, electronic equipment, a medium and a carrier, relates to the technical field of control, and aims to accurately position the carrier. The method comprises the following steps: when a position report request and moving direction information are received, driving the carrier to move according to the direction indicated by the moving direction information; controlling the image acquisition device to acquire a position mark during the movement of the carrier; when the carrier collects the position identifiers within a first preset distance, stopping driving the carrier to move, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers.

Description

Carrier control method, system, electronic equipment, medium and carrier

Technical Field

The present application relates to the field of control technologies, and in particular, to a method and a system for controlling a carrier, an electronic device, a medium, and a carrier.

Background

In recent years, with the rapid development of technologies such as computers and sensors, the application of automated warehouse logistics technology also rapidly advances along with the pace of development, and is widely applied to the fields such as medicines, books, electronic commerce and the like. In order to fully utilize the space and improve the working efficiency, the goods shelves and the transportation channels in the warehouse are continuously transformed.

In the related art, the carrier is adopted to automatically transport cargoes to the workbench, personnel operate on the workbench, the personnel do not need to walk, and the mode of 'cargoes to people' greatly improves the personnel operation efficiency. However, when the carrier position is abnormal, in order to locate the carrier position as soon as possible, the operation is troublesome and a lot of manpower is consumed.

Disclosure of Invention

In view of the foregoing, embodiments of the present invention provide a vehicle control method, system, electronic device, medium, and a vehicle method and apparatus, so as to overcome or at least partially solve the foregoing problems.

In a first aspect of an embodiment of the present invention, there is provided a method for controlling a vehicle configured with an image capturing device, the method including:

When a position report request is detected, driving the carrier to move according to the direction indicated by the movement direction information according to the received movement direction information;

Controlling the image acquisition device to acquire a position mark during the movement of the carrier;

when the carrier collects the position identifiers within a first preset distance, stopping driving the carrier to move, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers.

In a second aspect of the embodiments of the present invention, a vehicle control system is provided, where the vehicle is configured with an image capturing device, and information interaction is performed between the vehicle and the server, so as to execute the vehicle control method according to the first aspect.

In a third aspect of an embodiment of the present invention, there is provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the carrier control method according to the first aspect when executing the computer program.

In a fourth aspect of the embodiments of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method according to the first aspect.

In a fifth aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program or computer instructions which, when executed by a processor, implement the vehicle control method according to the first aspect.

In a sixth aspect of embodiments of the present invention, there is provided a vehicle configured with an image acquisition device and a processor for performing the vehicle control method according to the first aspect.

The embodiment of the invention has the following advantages:

in this embodiment, when a position report request is detected, the carrier may be driven to move according to the direction indicated by the movement direction information according to the received movement direction information; controlling the image acquisition device to acquire a position mark during the movement of the carrier; when the carrier collects the position identifiers within a first preset distance, stopping driving the carrier to move, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers.

When the position of the carrier is abnormal, triggering a position report request, so that the carrier automatically starts to position and report according to the position report request; transmitting moving direction information to the carrier so that the carrier moves according to the direction indicated by the moving direction information, wherein the indicated direction inevitably has a position mark, and the situation that the carrier cannot be positioned due to the fact that the carrier moves in a mess and misses the position mark is avoided; configuring an image acquisition device for the carrier, and enabling the image acquisition device to acquire a position mark during moving so as to confirm the current position of the carrier through the position mark; in order to avoid the situation that the position mark cannot be acquired all the time due to the failure of the image acquisition device or the pollution of a lens and the like, and the carrier moves all the time or even is dead in order to acquire positioning, the carrier is arranged to acquire the position mark within a first preset distance; when the position identification is acquired, the identification of the carrier and the acquired position identification are sent to the server, so that the server can automatically position the carrier according to the received identification and the position identification of the carrier.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention;

FIG. 2 is a logic block diagram of a method of controlling a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a remote control device in an embodiment of the invention;

FIG. 4 is a schematic diagram of a normal-pose vehicle lane change on intersecting tracks according to an embodiment of the present application;

Fig. 5 is a schematic diagram of a lane change of a carrier with an abnormal pose on a cross track according to an embodiment of the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.

Carriers refer to machines or equipment for transporting materials, personnel, etc., which are widely used in factories, warehouses. The carrier can move independently or automatically according to the received instruction, and the carrier can carry goods in the moving process, so that the working efficiency can be effectively improved. For example, the carrier may be a four-way shuttle, AGV, AMR, or other handling device. However, during movement, the actual position of the carrier and the position of the carrier in the server may be different, or even the position of the carrier may be lost in the server, due to sliding, idling, or the like of the carrier.

Particularly in a multi-layer warehouse system crossing a roadway, because the warehouse system has multiple layers, once the position of the carrier is abnormal, the specific position of the carrier is difficult to accurately acquire. Moreover, because the roadway in the multi-layer roadway warehouse system is divided into a main roadway and a sub roadway which are perpendicular to each other, a track is laid in the roadway, and the carrier moves on the track in the roadway, once the position of the carrier is shifted, the carrier is likely to be derailed when the lane is changed, and therefore the carrier needs to be accurately positioned. In addition, when the carrier enters the track for the first time, the carrier is not registered in the server, and the carrier is required to be manually and accurately positioned and registered, so that the operation is troublesome. The carrier in the roadway-crossing multi-layer warehousing system is usually a four-way shuttle, and the four-way shuttle is provided with two sets of gear trains, so that the movement in four directions of front, back, left and right can be completed.

To solve the above problems, the applicant proposed: setting a plurality of position identifiers, and when the position of the carrier is lost, automatically acquiring the adjacent position identifiers by the carrier so as to position the carrier; the carrier is strictly aligned with the position mark so as to prevent derailment risk when the carrier changes lanes; when the carrier is not registered in the server, the carrier is registered in the server after uploading the position identification to the server. The location identifier may be an identifier such as a bar code, a two-dimensional code, a pattern, a reflective identifier, or the like.

Referring to fig. 1, a step flowchart of a vehicle control method in an embodiment of the present invention is shown, and an execution body in the embodiment of the present invention may be a processor of a vehicle, as shown in fig. 1, the vehicle control method may specifically include the following steps:

Step S101: when a position report request is detected, driving the carrier to move according to the direction indicated by the movement direction information according to the received movement direction information;

step S102: controlling the image acquisition device to acquire a position mark during the movement of the carrier;

step S103: when the carrier collects the position identifiers within a first preset distance, stopping driving the carrier to move, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers.

When the position of the carrier is abnormal or the carrier enters the track for the first time, a position report request can be received, and movement direction information is also received, wherein the movement direction information indicates the carrier to move towards the position mark to be acquired. After the carrier detects the position report request, the carrier starts the function of automatic code searching, namely, moves in the direction indicated by the moving direction information, and simultaneously controls the image acquisition device to acquire in the moving process.

The position report request and the moving direction information can be derived from a remote control device and a server or triggered according to the operation of a user on the carrier body. Specifically, the position report request may be triggered by a worker by operating a function button on the carrier, where the carrier can detect a corresponding trigger signal; or the position report request is generated when the carrier itself judges the position to be reported; but may also be sent by a remote control or server. Similarly, the movement direction information may be triggered by a worker by operating a direction button on the carrier, where the carrier is able to detect a corresponding trigger signal; or may be transmitted by a remote control device or server.

The remote control device or the server may transmit the position report request and the movement direction information to the vehicle separately or simultaneously.

The carrier is provided with an image acquisition device, and after the position report request is detected, the image acquisition device starts to continuously acquire whether a position mark exists. When the carrier collects the position identification within the first preset distance, stopping moving, and sending the collected position identification and the carrier identification to the server, so that the server can determine that the carrier is positioned at the collected position identification according to the collected position representation and the carrier identification.

In order to avoid the situation that the position mark cannot be acquired all the time due to the failure of the image acquisition device or the pollution of the lens and the like, and the carrier always moves or even is dead in order to acquire the positioning, the carrier is arranged to acquire the position mark within a first preset distance. The first preset distance is determined according to the distance between two adjacent position marks, and the distances between every two adjacent position marks in the plurality of position marks are equal. The first preset distance may be equal to or slightly greater than the distance between two adjacent location markers, but not greater than or equal to twice the distance between two adjacent location markers to prevent the acquisition of the next location marker. The specific positions of the position marks in the embodiment of the invention are not limited, and the positions of the position marks relative to the tracks only need to be ensured to be fixed, for example, when the position marks are arranged on a goods shelf, the plane formed by the center points of the position marks and the plane where the corresponding tracks are positioned need to be ensured to be parallel, so that the image acquisition device can acquire the position marks at a fixed angle when the carrier moves on the tracks. The position marks have the same size and can be two-dimensional codes or bar codes and the like so as to quickly analyze the corresponding positions.

Referring to fig. 2, a logic block diagram of a vehicle control method according to an embodiment of the present invention is shown, where, as shown in fig. 2, the vehicle control method includes:

Establishing a communication connection with a remote control device in the case that the carrier is not registered to the server or in the case that the position of the carrier is abnormal; and receiving the position report request and the movement direction information sent by the remote control device, wherein the position report request is generated by operating a position report key on the remote control device, and the movement direction information is generated by operating a movement direction key on the remote control device.

When the carrier first enters the track, the carrier is not registered in the server, or when the position of the carrier is abnormal and lost, the carrier needs to be positioned. Referring to the schematic diagram of the remote control device shown in fig. 3, a moving direction key, an emergency stop button and a position reporting key are arranged on the remote control device, wherein the moving direction key comprises a forward direction key and a backward direction key, the position reporting key comprises an opening button and a closing button, and the position reporting key controls a connected carrier to start or stop reporting position information. And pressing an opening button in the position reporting key, and sending a position reporting request to the connected carrier by the remote control device. When the carrier does not receive the position report request, the carrier can be controlled to move according to the operated direction of the moving direction key through the moving direction key; when the carrier receives the position report request, the carrier can automatically start to move according to the operated direction of the moving direction key through the moving direction key, and the image acquisition device of the carrier acquires the position identification during the moving process.

Firstly, a communication connection between a remote control device and a carrier is established through a wireless network, then the remote control device sends a remote control instruction to the carrier by pressing a moving direction key, and the remote control instruction remotely controls the carrier to move along the direction indicated by the pressed moving direction key, so that the carrier moves to the periphery of a position mark to be acquired. When the vehicle moves to the periphery of the position mark, an opening button in a position reporting button is pressed to send a position reporting request to the vehicle, and then a moving direction key is pressed to send moving direction information to the vehicle, so that the vehicle can automatically position and report the position. If the opening button is not pressed, manual remote control is needed to align the position identification.

When a position report request is received, setting the moving speed of the carrier as a target speed and starting the image acquisition device, wherein the target speed is lower than the normal moving speed of the carrier; and/or when the end position is reported, the moving speed of the carrier is restored to the normal moving speed, and the image acquisition device is closed.

The image acquisition device acquires the position mark according to the preset frequency, in order to avoid that the position mark cannot be acquired due to too high moving speed of the image acquisition device, when a position reporting request is detected, the moving speed of the carrier is set to be a target speed, the image acquisition device is started, wherein the target speed is lower than the normal moving speed of the carrier, the normal moving speed of the carrier refers to the moving speed of the carrier when the in-out operation is normally executed, and the set target speed and the preset frequency can ensure that the image acquisition device cannot miss the position mark. And when the end position is reported, the moving speed of the carrier is recovered to the normal moving speed, and the image acquisition device is closed, so that the loss of the image acquisition device is reduced.

Detecting whether an obstacle exists in front of the carrier or whether an emergency stop instruction is received during the movement of the carrier; and stopping driving the carrier to move when detecting that an obstacle exists or receiving the scram instruction, and sending out second alarm information.

And during the movement period after the carrier receives the position report request, the carrier starts the obstacle avoidance function, and detects whether an obstacle exists in front of the carrier in real time, wherein the front of the carrier refers to the movement direction of the carrier. The detection of the obstacle may be performed by infrared rays or ultrasonic waves, and the present invention is not limited thereto.

During the movement of the carrier, whether the carrier receives an emergency stop instruction is detected in real time. Wherein the scram instruction may be triggered after a scram button on the remote control device is pressed.

When detecting that an obstacle exists in the front preset distance or when receiving an emergency stop instruction, stopping driving the carrier to move and sending out second alarm information, wherein the second alarm information can be sent out in a broadcast mode, can be directly sent to a server or can be sent to terminal equipment which establishes communication connection with the carrier. Thus, the alarm can be timely informed to the staff, so that the staff can timely handle the alarm.

When a position report request is detected, driving the carrier to move according to the direction indicated by the movement direction information according to the received movement direction information; controlling the image acquisition device to acquire a position mark during the movement of the carrier; when the carrier collects the position identifiers within a first preset distance, stopping driving the carrier to move, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers.

When a position report request triggered by the carrier is detected or a position report request sent by the remote control device is received, the remote control device sends moving direction information to the carrier, and the carrier is controlled to move towards the position mark to be acquired according to the direction indicated by the moving direction. The carrier moves at a target speed and collects position marks during the movement, wherein the movement distance of the carrier does not exceed a first preset distance. When the position identification is acquired within the first preset distance, the carrier stops moving, and the carrier identification and the acquired position identification are sent to the server, so that the server determines that the current position of the carrier is positioned at the acquired position identification.

Transmitting the identification of the carrier and the collected position identification to a server, wherein the method comprises the following steps: under the condition that the carrier is not registered to the server, generating a registration request according to the identification of the carrier and the acquired position identification; and sending the registration request to the server so that the server records the identification information of the carrier and the acquired position identification thereof.

Under the condition that the carrier enters the track for the first time and is not registered in the server, a registration request is generated according to the identification of the carrier and the acquired position identification, the registration request is sent to the server, the server registers the carrier according to the identification information and the position identification of the carrier contained in the registration request, and the identification information and the acquired position identification of the carrier are recorded.

When the carrier does not acquire the position mark within the first preset distance, driving the carrier to move in the opposite direction indicated by the moving direction information; when the carrier moves in the opposite direction for a second preset distance to acquire the position mark, stopping driving the carrier to move, and sending the mark of the carrier and the acquired position mark to a server, wherein the second preset distance is greater than the first preset distance; and/or stopping driving the carrier to move and sending out first alarm information when the carrier does not acquire the position mark in the second preset distance according to the opposite direction.

When the carrier does not acquire the position marks within the first preset distance, the carrier is proved to have moved the position marks, so that the carrier is driven to move in the opposite direction indicated by the movement direction information, wherein the movement distance of the carrier in the opposite direction does not exceed a second preset distance, and the second preset distance is larger than the first preset distance and is not larger than twice the distance between two adjacent position marks, so that the position marks are contained in the second preset distance.

When the carrier moves in the opposite direction within a second preset distance and the position identification is acquired, the carrier is stopped from moving, and the identification of the carrier and the acquired position identification are sent to the server. When the carrier moves in the opposite direction within a second preset distance and no position mark is acquired, the possibility that the image acquisition device is stained, failed or the position mark is incomplete is proved, the movement of the carrier is stopped to be driven, and first alarm information is sent out, wherein the first alarm information can be sent out in a broadcast mode, can be directly sent to a server or can be sent to terminal equipment in communication connection with the carrier. Thus, the alarm can be timely informed to the staff, so that the staff can timely handle the alarm.

Rails which are mutually crossed are paved on the moving surface of the carrier; after stopping driving the movement of the carrier, the method further comprises: and adjusting the pose of the carrier to align to the collected position mark so as to prevent the carrier from being separated from the track when changing the track.

The position of the carrier on the track must be precisely located, otherwise derailment may occur during track changes. Referring to fig. 4, a schematic diagram of a normal pose of a vehicle changing track on intersecting tracks is shown, wherein a solid rectangle represents the vehicle, a circle represents the wheels of the vehicle, a broken line represents the track, and the wheels of the vehicle move on the track to move the vehicle. Under normal posture, when the carrier transversely changes the track from the vertical direction, the wheels can move on the transverse track only by adjusting the moving direction to be the vertical direction of the original vertical moving direction. Referring to fig. 5, a schematic diagram of a vehicle changing track on an intersecting track for an abnormal pose is shown, wherein a solid rectangle represents the vehicle, a circle represents the wheels of the vehicle, and a broken line represents the track. Under the unusual position appearance, the carrier location is inaccurate, leads to the carrier to carry out lateral shifting from the vertical direction when carrying out the horizontal lane change, carries out lateral shifting after the vertical direction of the direction of movement adjustment original direction of movement, and the wheel can not remove on the track, can appear derailing the condition.

Therefore, in order to prevent the carrier from derailing, the position of the carrier needs to be precisely positioned, and therefore, the image acquisition device should be disposed at a fixed position of the carrier and perform image acquisition at a fixed angle and a fixed parameter (for example, focal length). Specifically: after the position mark is scanned and the driving of the carrier is stopped, the pose of the carrier can be aligned with the acquired position mark by utilizing the fine tuning program, so that the center of an image acquired by the image acquisition device is aligned with the center of the position mark, or the edge of the acquired image is aligned with the edge of the position mark. The position of the carrier is accurately positioned by taking the position mark as a scale so as to prevent the carrier from being separated from the track when changing tracks.

By adopting the technical scheme provided by the embodiment of the invention, the method has the following advantages:

1. when the carrier enters the track for the first time or the carrier position is abnormal, an image acquisition device is configured for the carrier, the image acquisition device is utilized to acquire a position identifier, and then the carrier identifier and the acquired position identifier are sent to a server, so that the server acquires the carrier position according to the carrier identifier and the acquired position identifier, and when the carrier is not registered in the server, the carrier is registered in the server according to the generated registration request;

2. in order to prevent the image acquisition device from missing the position mark, the carrier is arranged to run at a target speed lower than the normal moving speed in the position reporting process;

3. In order to conveniently control the carrier without manually moving beside the carrier, a remote control device is used for controlling the carrier to move and sending a position reporting request to the carrier; meanwhile, an emergency stop button is arranged on the remote control device so as to send an emergency stop instruction to the carrier when an emergency occurs;

4. In order to prevent collision between the carrier and the obstacle, an obstacle avoidance function is set for the carrier so as to stop moving and report second alarm information when the obstacle exists in front of the carrier;

5. In order to avoid the situation that the position mark cannot be acquired all the time due to the failure of the image acquisition device or the pollution of a lens and the like, and the carrier moves all the time or even is dead in order to acquire positioning, the carrier is arranged to acquire the position mark within a first preset distance; in addition, in order to improve the fault tolerance, when the position mark is not acquired within the first preset distance, the carrier is reversely moved by a second preset distance and the position mark is acquired; the moving range of the carrier is limited by the first preset distance and the second preset distance, so that the carrier is prevented from moving all the time and colliding with other things; the working frequency of the image acquisition device is enough to ensure that the position mark is acquired between the back and forth directions, so that if the position mark is not acquired within a second preset distance, the first alarm information is reported, and the situation that the position mark cannot be acquired due to lens contamination, position mark breakage and the like and the carrier moves back and forth to attempt to acquire the position mark is avoided;

6. The fine tuning program is inserted into the processor of the carrier, so that when the carrier moves on the track or other conditions requiring accurate positioning of the carrier, the carrier can take the position mark as a scale, and the position of the carrier can be accurately adjusted by the fine tuning program so as to avoid derailment or other risks of the carrier.

Optionally, as an embodiment, after the carrier collects the position identifier, a stop position report instruction sent by the remote control device under the condition that position identifier collection needs to be performed again is received, where the stop position report instruction is generated in response to a position report key on the remote control device being operated; driving the carrier to move to the periphery of another position mark different from the position mark acquired last time according to a remote control instruction sent by the remote control device so as to enable the image acquisition device to acquire the other position mark, wherein the remote control instruction is generated by operating a moving direction key on the remote control device; and when receiving a position report request again, controlling the image acquisition device to acquire the other position identifier, wherein the position report request is generated by operating a position report key on the remote control device.

If the carrier positioning is needed again, the image acquisition device of the carrier acquires another position identifier, the closing button in the position reporting key on the remote control device is needed to be pressed first, and then the opening button is pressed again, so that the carrier positioning function is restarted, and the carrier is restarted to be positioned.

And under the condition that the position identification acquisition is required to be carried out again, receiving a stop position reporting instruction sent by the remote control device, wherein the stop position reporting instruction is generated in response to the operation of a position reporting key on the remote control device.

After one location identifier is acquired, if the carrier wants to acquire the location identifier again and report the location, the carrier usually does not continue to acquire the location identifier, but needs to be moved to the vicinity of another location identifier in order to acquire another location identifier. The vehicle can be manually moved to the vicinity of another position mark, or can be directly remotely controlled by a remote control device to move to the vicinity of another position mark. Specifically, a movement direction key on the remote control device is operated to generate a remote control instruction, and the remote control instruction is sent to a processor of the carrier. And the processor of the carrier drives the carrier to move to the periphery of another position mark different from the position mark acquired last time according to a remote control instruction sent by the remote control device so as to enable the image acquisition device to acquire the another position mark.

When the carrier moves to the vicinity of another position mark, a position report button on the remote control device is operated to generate a position report request. And when the processor of the carrier receives the position reporting request, controlling the image acquisition device to acquire the other position identifier.

Therefore, when the carrier reports the position again, the position corresponding to the position mark collected last time is still reported.

The embodiment of the invention also provides a carrier control method with the execution main body as a remote control device, which comprises the following steps:

and sending a position report request and movement direction information to the carrier, wherein the position report request is used for controlling the carrier to move according to the direction indicated by the movement direction information, and sending a position identifier acquired during movement to a server.

Specifically, when the carrier collects the position identifiers within a first preset distance, the carrier sends the self identifier and the collected position identifiers to the server, and the first preset distance is determined according to the distance between two adjacent position identifiers.

The method for reporting the position of the carrier controlled by the remote control device side comprises the following steps: firstly, connecting a remote control device and a carrier, then moving the carrier to the periphery of a position mark to be collected through a moving direction key of the remote control device, then sending a position report request to the carrier when detecting that a worker presses an opening button of a position report key to enable the carrier to start position report, and then sending moving direction information to the carrier when detecting that the worker presses the moving direction key to enable the carrier to move at a low speed according to the direction indicated by the pressed moving direction key, wherein the carrier collects the position mark in real time in the moving process. When the carrier is required to report the position corresponding to another position mark, the remote control device remotely controls the carrier to move around the other position mark, and then when the situation that a worker presses a movement direction key is detected, the movement direction information is sent to the carrier, so that the carrier moves at a low speed according to the direction indicated by the pressed movement direction key, and the carrier acquires the position mark in real time in the moving process.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may be performed in other order or concurrently, and nothing can be done in any way, according to the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.

The embodiment of the invention also provides a vehicle control system, which comprises a vehicle and a server, wherein the vehicle is provided with an image acquisition device, and information interaction is carried out between the vehicle and the server so as to execute the vehicle control method executed by the vehicle.

Optionally, the system further comprises a remote control device, and the remote control device performs information interaction with the vehicle to perform the vehicle control method performed by the remote control device according to the above embodiment.

The embodiment of the invention also provides a carrier control device, which comprises a first driving module, a first control module and a sending module, wherein:

The first driving module is used for driving the carrier to move according to the direction indicated by the moving direction information according to the received moving direction information when the position report request is detected;

the first control module is used for controlling the image acquisition device to acquire a position mark during the movement of the carrier;

And the sending module is used for stopping driving the carrier to move when the carrier collects the position identifiers within a first preset distance, and sending the identifiers of the carrier and the collected position identifiers to the server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers.

Optionally, as an embodiment, the apparatus further includes:

the reverse driving module is used for driving the carrier to move in the opposite direction indicated by the moving direction information when the carrier does not acquire the position mark within the first preset distance;

The reverse sending module is used for stopping driving the carrier to move and sending the carrier identification and the collected position identification to a server when the carrier collects the position identification in a second preset distance according to the opposite direction, wherein the second preset distance is larger than the first preset distance; and/or

And the driving stopping module is used for stopping driving the carrier to move and sending out first alarm information when the carrier does not acquire the position mark in the second preset distance according to the opposite direction.

Optionally, as an embodiment, the apparatus further includes:

the starting module is used for setting the moving speed of the carrier to be a target speed and starting the image acquisition device when the position reporting request is detected, wherein the target speed is lower than the normal moving speed of the carrier; and/or

And the ending module is used for recovering the moving speed of the carrier to the normal moving speed and closing the image acquisition device when the ending position is reported.

Optionally, as an embodiment, the moving surface of the carrier is paved with mutually crossed rails; after stopping driving the movement of the carrier, the apparatus further comprises:

And the alignment module is used for adjusting the pose of the carrier to align the collected position mark so as to prevent the carrier from being separated from the track when changing the track.

Optionally, as an embodiment, the apparatus further includes:

the obstacle avoidance/scram module is used for detecting whether an obstacle exists in front of the carrier or whether an scram instruction is received during movement of the carrier;

And the second alarm module is used for stopping driving the carrier to move and sending out second alarm information when detecting that an obstacle exists or receiving the scram instruction.

Optionally, as an embodiment, the sending module includes:

a registration request unit, configured to generate a registration request according to an identifier of the carrier and the collected location identifier, when the carrier is not registered to the server;

And the recording unit is used for sending the registration request to the server so that the server records the identification information of the carrier and the acquired position identification thereof.

Optionally, as an embodiment, before detecting the location report request, the apparatus further includes:

the connection module is used for establishing communication connection with a remote control device under the condition that the carrier is not registered to the server or the position of the carrier is abnormal;

The first receiving module is configured to receive the position report request and the movement direction information sent by the remote control device to the carrier, where the position report request is generated by operating a position report key on the remote control device, and the movement direction information is generated by operating a movement direction key on the remote control device.

Optionally, as an embodiment, the apparatus further includes:

The second receiving module is used for receiving a stop position reporting instruction sent by the remote control device under the condition that the position identification is required to be acquired again after the carrier acquires the position identification, wherein the stop position reporting instruction is generated in response to the operation of a position reporting key on the remote control device;

The second driving module is used for driving the carrier to move to the periphery of another position mark different from the position mark acquired last time according to a remote control instruction sent by the remote control device so as to enable the image acquisition device to acquire the other position mark, and the remote control instruction is generated by operating a moving direction key on the remote control device;

The second control module is configured to control the image acquisition device to acquire the another position identifier when receiving a position report request sent by the remote control device again, where the position report request is generated when a position report key on the remote control device is operated, and the device embodiment is similar to the method embodiment, so that description is simpler, and related parts refer to the method embodiment.

The embodiment of the invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the carrier control method in the embodiment is realized when the processor executes the computer program.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the vehicle control method according to the above embodiment.

The embodiment of the invention also provides a computer program product, which comprises a computer program or computer instructions, wherein the computer program or computer instructions realize the carrier control method according to the embodiment when being executed by a processor.

The embodiment of the invention also provides a carrier, which is provided with an image acquisition device and a processor, wherein the processor is used for executing the carrier control method in the embodiment.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, systems, electronic devices, and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.

The above description of the present application provides a method, apparatus, electronic device, storage medium and a carrier, and specific examples are applied to illustrate the principles and embodiments of the present application, and the above description of the embodiments is only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A vehicle control method, wherein the vehicle is provided with an image acquisition device, the method comprising:

Stopping driving the carrier to move when the carrier collects the position identifiers within a first preset distance, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers;

And when the carrier does not acquire the position mark within the first preset distance, driving the carrier to move in the opposite direction indicated by the movement direction information.

2. The method according to claim 1, wherein the method further comprises:

When the carrier moves in the opposite direction for a second preset distance to acquire the position mark, stopping driving the carrier to move, and sending the mark of the carrier and the acquired position mark to a server, wherein the second preset distance is greater than the first preset distance; and/or

And stopping driving the carrier to move and sending out first alarm information when the carrier does not acquire the position mark within the second preset distance according to the opposite direction.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

When a position report request is detected, setting the moving speed of the carrier as a target speed and starting the image acquisition device, wherein the target speed is lower than the normal moving speed of the carrier; and/or

And when the end position is reported, the moving speed of the carrier is restored to the normal moving speed, and the image acquisition device is closed.

4. Method according to any one of claims 1-2, characterized in that the moving surface of the carrier is laid with mutually intersecting tracks; after stopping driving the movement of the carrier, the method further comprises:

and adjusting the pose of the carrier to align to the collected position mark so as to prevent the carrier from being separated from the track when changing the track.

5. A method according to claim 3, wherein the moving surface of the carrier is provided with mutually intersecting tracks; after stopping driving the movement of the carrier, the method further comprises:

6. The method according to any one of claims 1-2, 5, further comprising:

detecting whether an obstacle exists in front of the carrier or whether an emergency stop instruction is received during the movement of the carrier;

And stopping driving the carrier to move when detecting that an obstacle exists or receiving the scram instruction, and sending out second alarm information.

7. A method according to claim 3, characterized in that the method further comprises:

8. The method according to claim 4, wherein the method further comprises:

9. The method according to any one of claims 1-2, 5, 7-8,

Transmitting the identification of the carrier and the collected position identification to a server, wherein the method comprises the following steps:

Under the condition that the carrier is not registered to the server, generating a registration request according to the identification of the carrier and the acquired position identification;

And sending the registration request to the server so that the server records the identification information of the carrier and the acquired position identification thereof.

10. The method of claim 3, wherein the step of,

11. The method of claim 4, wherein the step of determining the position of the first electrode is performed,

12. The method of claim 6, wherein the step of providing the first layer comprises,

13. The method of any of claims 1-2, 5, 7-8, 10-12, wherein prior to detecting a location report request, the method further comprises:

Establishing a communication connection with a remote control device in the case that the carrier is not registered to the server or in the case that the position of the carrier is abnormal;

And receiving the position report request and the movement direction information sent by the remote control device, wherein the position report request is generated by operating a position report key on the remote control device, and the movement direction information is generated by operating a movement direction key on the remote control device.

14. A method according to claim 3, wherein prior to detecting a location reporting request, the method further comprises:

15. The method of claim 4, wherein prior to detecting a location report request, the method further comprises:

16. The method of claim 6, wherein prior to detecting a location report request, the method further comprises:

17. The method of claim 9, wherein prior to detecting a location report request, the method further comprises:

18. The method according to any one of claims 1-2, 5, further comprising:

After the carrier collects the position identification, receiving a stop position reporting instruction sent by a remote control device under the condition that the position identification is required to be collected again, wherein the stop position reporting instruction is generated in response to the operation of a position reporting key on the remote control device;

Driving the carrier to move to the periphery of another position mark different from the position mark acquired last time according to a remote control instruction sent by the remote control device so as to enable the image acquisition device to acquire the other position mark, wherein the remote control instruction is generated by operating a moving direction key on the remote control device;

And when the position report request is detected again, controlling the image acquisition device to acquire the other position identifier, wherein the position report request is generated by operating a position report key on the remote control device.

19. A method according to claim 3, characterized in that the method further comprises:

20. The method according to claim 4, wherein the method further comprises:

21. A vehicle control method, wherein the vehicle is provided with an image acquisition device, the method comprising:

A position report request and movement direction information are sent to the carrier, wherein the position report request is used for controlling the carrier to move according to the direction indicated by the movement direction information, and a position mark acquired during movement is sent to a server;

The method for controlling the carrier to move according to the direction indicated by the moving direction information and sending the position identification acquired during the moving to a server comprises the following steps:

22. A vehicle control system comprising a vehicle and a server, wherein the vehicle is provided with an image acquisition device, and wherein information interaction is performed between the vehicle and the server to perform the vehicle control method according to any one of claims 1 to 20.

23. The vehicle control system of claim 22, further comprising a remote control device that interacts with the vehicle, the remote control device sending a position report request and movement direction information to the vehicle, the position report request being for controlling the vehicle to move in a direction indicated by the movement direction information, and sending a position identifier acquired during the movement to a server; the method for controlling the carrier to move according to the direction indicated by the moving direction information and sending the position identification acquired during the moving to a server comprises the following steps: stopping driving the carrier to move when the carrier collects the position identifiers within a first preset distance, and sending the identifiers of the carrier and the collected position identifiers to a server, wherein the first preset distance is determined according to the distance between two adjacent position identifiers; and when the carrier does not acquire the position mark within the first preset distance, driving the carrier to move in the opposite direction indicated by the movement direction information.

24. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the vehicle control method of any one of claims 1 to 21 when executing the computer program.

25. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method according to any of claims 1 to 21.

26. A vehicle provided with an image acquisition device and a processor for executing the vehicle control method according to any one of claims 1 to 21.