CN114155735A - Vehicle scheduling method and system based on industrial vehicle chain - Google Patents
Vehicle scheduling method and system based on industrial vehicle chain Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
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Abstract
The invention discloses a vehicle scheduling method and a system based on an industrial vehicle chain, which comprises the following steps: the weight sensor sends the weight of the goods detected during goods forking and the goods forking time to the IOT equipment; the IOT equipment collects a goods starting area through an indoor positioning device; the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time; the weight sensor sends the unloading time detected after unloading to the IOT equipment; after receiving the unloading time, the IOT equipment collects a cargo destination area through an indoor positioning device, and adds 1 to the carrying times; and based on the carrying times, the starting time and the unloading time, the IOT equipment calculates the busyness of the industrial vehicle and sends synchronous data to other industrial vehicles on the industrial vehicle chain according to the busyness. The industrial vehicle dispatches other vehicles according to the busyness calculated in real time, and realizes the rapid transportation of goods.
Description
Technical Field
The invention relates to the technical field of vehicle scheduling, in particular to a vehicle scheduling method and system based on an industrial vehicle chain.
Background
At present, task scheduling between industrial vehicles (such as forklifts) is mainly based on a scheduling method of a cloud platform, specifically, a cloud server carries out data modeling on a scene according to data uploaded to the cloud platform by the industrial vehicles, and objectively estimates daily average carrying total quantity in the scene; after the scene model is built, the carrying priority of the vehicle is set according to the vehicle configuration condition in the scene and by referring to the tonnage and the transportation convenience of the vehicle, and the fleet is subjected to task scheduling through a priority algorithm to realize the rapid carrying of the goods. In the prior art, data of an industrial vehicle needs to be uploaded to a cloud server, and the cloud server manages the vehicle data. However, at present, the management of the vehicle data through the cloud server is only to simply perform data storage or data calculation, the cloud server cannot sense whether the vehicle data is tampered, once the vehicle data is tampered, the cloud server cannot timely synchronize the stored vehicle data to a corresponding vehicle on one hand, and on the other hand, the tampered vehicle data may be stored and wrongly calculated, which may cause serious consequences.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art and provides a vehicle dispatching method and system based on an industrial vehicle chain.
The invention adopts the following technical scheme:
in one aspect, the invention relates to a vehicle scheduling method based on an industrial vehicle chain, which comprises the following steps:
the weight sensor sends the weight of the goods detected during goods forking and the goods forking time to the IOT equipment;
the IOT equipment acquires the current position of an industrial vehicle through an indoor positioning device to obtain a cargo starting point area; the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time;
the weight sensor sends the detected unloading time to the IOT equipment; after receiving the unloading time, the IOT equipment acquires the current position of the industrial vehicle through the indoor positioning device to obtain a cargo destination area; adding 1 to the carrying times by the IOT equipment;
based on the carrying times, the starting time and the unloading time, the IOT equipment calculates the busyness of the industrial vehicle and compares the busyness with a preset value; and if the IOT equipment judges that the busyness is greater than the preset value, synchronizing the goods related data and the industrial vehicle related data to other industrial vehicles on the established industrial vehicle chain.
Preferably, based on the carrying times, the starting time and the unloading time, the IOT device calculates the busyness of the industrial vehicle in the following specific calculation manner:
R＝n/(eTime-T)
wherein R represents busyness; n represents the number of conveyance times; eTime represents the unloading time; t represents the start time.
Preferably, the IOT device determines whether an error between the collected goods starting point region and the goods starting point region collected last time is within a first preset error range, and if so, determines that the goods starting point regions are the same.
Preferably, the IOT device determines whether an error between the collected cargo end region and a cargo end region collected last time is within a second preset error range, and if so, determines that the collected cargo end regions are the same cargo end region.
Preferably, the vehicle scheduling method further includes: and if the IOT equipment judges that the current fork task is the first fork in the starting area of the goods, setting the carrying times to be 0.
Preferably, the IOT device adds 1 to the number of times of handling, and specifically includes:
the IOT equipment judges whether the goods terminal area is the same as the goods terminal area collected last time, if so, the IOT equipment adds 1 to the carrying times; if the difference is not the same, the carrying times are set to 1, and meanwhile the starting time is reset to the current fork time.
Preferably, the cargo-related data includes the cargo origin area and cargo weight; the industrial vehicle-related data includes vehicle model.
Preferably, the weight sensor is arranged on the fork; the IOT device is disposed on the industrial vehicle; the indoor positioning devices are arranged on the industrial vehicle, or in a factory building of a goods starting point region and a goods terminal point region, the indoor positioning devices capable of collecting the current position of the industrial vehicle are respectively arranged.
In another aspect, the present invention is a vehicle dispatching system based on an industrial vehicle chain, comprising: the system comprises IOT equipment, a weight sensor and an indoor positioning device; the IOT equipment is respectively connected with the weight sensor and the indoor positioning device; specifically, the method comprises the following steps:
the weight sensor sends the weight of the goods detected during goods forking and the goods forking time to the IOT equipment;
the IOT equipment acquires the current position of an industrial vehicle through an indoor positioning device to obtain a cargo starting point area; the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time;
the weight sensor sends the detected unloading time to the IOT equipment; after receiving the unloading time, the IOT equipment acquires the current position of the industrial vehicle through the indoor positioning device to obtain a cargo destination area; adding 1 to the carrying times by the IOT equipment;
based on the carrying times, the starting time and the unloading time, the IOT equipment calculates the busyness of the industrial vehicle and compares the busyness with a preset value; and if the IOT equipment judges that the busyness is greater than the preset value, synchronizing the goods related data and the industrial vehicle related data to other industrial vehicles on the established industrial vehicle chain.
Preferably, the vehicle dispatching system further comprises: a terminal device; all industrial vehicles on the industrial vehicle chain are provided with the terminal equipment, and the terminal equipment is connected with the IOT equipment; and when other industrial vehicles on the industrial vehicle chain receive the synchronous data, judging whether the vehicle type of the industrial vehicle is consistent with the vehicle type in the synchronous data, and if so, displaying the goods starting point area in the synchronous data on the terminal equipment.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
(1) the method comprises the steps that the weight of the goods, the carrying starting time and the unloading time are obtained based on a weight sensor, the goods starting point area and the goods finishing point area are obtained based on a positioning device, the IOT equipment calculates the busyness in real time according to the carrying times and the carrying time (the difference value between the unloading time and the carrying starting time), other vehicles on an industrial vehicle chain are dispatched according to the busyness, the mutual cooperation of all vehicles on the industrial vehicle chain is realized, and the fast carrying of the goods is finally realized;
(2) when the area of the starting point of the goods changes, the carrying starting time is reset; when the goods starting point area or the goods acquiring end point area changes, the carrying times are reset, the calculated busyness is ensured to be directed at the same starting point area and the same end point area, the current working strength of the industrial vehicle can be truly reflected, and the misscheduling is prevented;
(3) in the invention, the industrial vehicle with high busyness synchronizes the goods starting point area, the goods weight, the vehicle type and the like to other industrial vehicles on the vehicle chain, so that on one hand, other industrial vehicles supported in the future are closer to realize quick support, and on the other hand, the vehicles supported in the future can bear the weight of carrying goods, thereby preventing resource waste;
(4) according to the invention, the goods related data and the industrial vehicle related data are not required to be uploaded to the cloud platform, the data acquired by the weight sensor and the indoor positioning device and all the data calculated by the IOT equipment are stored in the IOT equipment of the industrial vehicle, and the safety and reliability of the data are ensured;
(5) according to the busyness calculated by the IOT equipment, the goods related data and the industrial vehicle related data are synchronized to other industrial vehicles on the established industrial vehicle chain, and whether the goods are moved to the goods starting point area for support is judged by the other industrial vehicles on the industrial vehicle chain according to the goods related data and the industrial vehicle related data, so that a cloud platform is not required to perform complex modeling operation and scheduling, and rapid scheduling is realized.
The above description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the description of the technical means more comprehensible.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a detailed flow chart of an embodiment of the present invention;
fig. 3 is a system block diagram of an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, in one aspect, the present invention relates to a vehicle scheduling method based on an industrial vehicle chain, including:
s101, the weight sensor sends the weight of the goods detected in the goods fork process and the goods fork time to the IOT equipment;
s102, the IOT equipment acquires the current position of the industrial vehicle through an indoor positioning device to obtain a cargo starting point area; the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time;
s103, the weight sensor sends the detected unloading time to the IOT equipment; after receiving the unloading time, the IOT equipment acquires the current position of the industrial vehicle through the indoor positioning device to obtain a cargo destination area; adding 1 to the carrying times by the IOT equipment;
s104, based on the carrying times, the starting time and the unloading time, the IOT equipment calculates the busyness of the industrial vehicle and compares the busyness with a preset value; and if the IOT equipment judges that the busyness is greater than the preset value, synchronizing the goods related data and the industrial vehicle related data to other industrial vehicles on the established industrial vehicle chain.
Specifically, in S101, the specific time point at which the weight sensor sends the weight of the cargo and the fork time detected during fork operation to the IOT device is the time point at which all the cargos to be transported are loaded on the fork or the industrial vehicle starts transportation.
In S103, the specific time point when the weight sensor sends the detected unloading time to the IOT device is when all the cargoes are unloaded by the forks of the industrial vehicle.
Further, the IOT device may be disposed at any location on the industrial vehicle and in communication with the weight sensor and the indoor positioning device, respectively.
The weight sensors can be arranged at any position on the pallet fork, and one or more weight sensors can be arranged to ensure the detection accuracy. When a plurality of weight sensors are included, an algorithm such as an averaging algorithm may be used to equalize the detection results, and the embodiment of the present invention is not particularly limited.
In one embodiment, the indoor positioning device may be disposed on the industrial vehicle. In another embodiment, an indoor positioning device capable of acquiring the current position of the industrial vehicle (i.e. a cargo starting area) is arranged in the cargo starting area, and an indoor positioning device capable of acquiring the current position of the industrial vehicle (i.e. a cargo ending area) is arranged in a plant of the cargo ending area. In order to ensure the accuracy of detection, one or more indoor positioning devices can be arranged on the industrial vehicle, one or more indoor positioning devices can be arranged in the goods starting area, and one or more indoor positioning devices can be arranged in the goods terminal area. When the indoor positioning device is included, an algorithm such as an averaging algorithm may be used to equalize the detection results, and which algorithm is specifically used, which is not particularly limited in the embodiments of the present invention.
In S102, the IOT device determines whether the current fork task is the first fork in the starting area of the cargo, and if so, sets the fork time as the starting time, which specifically includes:
and the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time, and meanwhile, the carrying times is set to be 0.
Specifically, the method for the IOT device to determine whether the current fork task is the first fork in the starting area of the goods includes: judging whether the starting time is empty or zero or other preset values, if so, judging that the goods are forked for the first time, and assigning the currently obtained time for forking the goods as the starting time; if not, proceed directly to the next step. Of course, other flags may be set for determination, but no matter which manner is adopted, when the fork is first forked, the fork time obtained at the current time needs to be assigned as the starting time for subsequent busyness calculation.
In S102 and S103, the cargo start area and the cargo end area are referred to. It should be noted that the regions herein are allowed to have a certain error.
Specifically, the IOT device determines whether an error between the collected goods starting point region and a goods starting point region collected last time is within a first preset error range, and if so, determines that the goods starting point regions are the same; otherwise, the goods are judged to be different starting point areas of the goods.
The IOT equipment judges whether the error between the collected goods end point region and the goods end point region collected last time is within a second preset error range, and if yes, the collected goods end point region and the goods end point region are the same; otherwise, the terminal areas of different cargos are judged.
The first preset error range and the second preset error range may be configured according to a size of a region where goods are prevented, and may be 3 meters by default.
In S103, the IOT device adds 1 to the number of times of transport, which specifically includes:
the IOT equipment judges whether the goods terminal area is the same as the goods terminal area collected last time, if so, the IOT equipment adds 1 to the carrying times; if the difference is not the same, the carrying times are set to 1, and meanwhile the starting time is reset to the current fork time.
In S104, based on the carrying times, the starting time, and the unloading time, the IOT device calculates the busyness of the industrial vehicle in the following specific calculation manner:
R＝n/(eTime-T)
wherein R represents busyness; n represents the number of conveyance times; eTime represents the unloading time; t represents the start time.
In this embodiment, the cargo related data includes the cargo origin area and the cargo weight; the industrial vehicle-related data includes vehicle model.
After S104, further comprising:
other industrial vehicles on the industrial vehicle chain receive the synchronous data and then take out the vehicle type of the vehicle type vehicle, judge whether the vehicle type is consistent with the vehicle type of the vehicle, if the vehicle type is consistent with the vehicle type, take out the goods starting point area, display the specific position and the goods weight information on a display of the terminal equipment, and a driver judges whether to go to the goods starting point area for support according to the existing tasks.
It should be noted that, the method for establishing the industrial vehicle chain and the method for performing data synchronization on the industrial vehicles in the industrial vehicle chain are referred to the applied patent 201910098913.4, and the description of the embodiment is not repeated.
In this embodiment, a vehicle scheduling method based on an industrial vehicle chain further includes:
and S105, repeating the steps from S101 to S104 until all goods are conveyed.
In this embodiment, the industrial vehicle is a forklift, and the following takes the forklift as an example to specifically describe the above process.
The method is characterized in that 1000 cargos in an X area (a cargo starting area) of a factory building are transported to a Y area (a cargo finishing area) by a forklift with a vehicle type C, 10 forklifts (F1, F2 … F10) are arranged in the factory building in total, IOT devices are arranged on the 10 forklifts in the factory building in a scattered manner, all the IOT devices form a forklift chain, and the busyness R value is set to be 0.5. At this time, the forklift F1 enters the X area, and the detailed process is as follows:
(1) f1 forks the goods, a sensor on the fork sends the weight of the goods and the fork time sTime (8:00am) to the IOT device on the F1, the IOT device collects a goods starting point area sLocation through an indoor positioning device, the IOT device judges that the goods are firstly forked in the area by the F1, and therefore the current fork time is assigned to the current time, namely T is equal to sTime;
(2) f1 moves the cargo to the Y area, and collects the unloading time eTime (8:03am) of the sensor at the moment and the cargo end point area eLocation detected at the moment;
(3) the IOT device adds 1 to the number of transports n,
(4) calculating the R value, wherein R is n/(eTime-T) 1/(8:03-8:00) 1/3min is 0.3
(5) Repeating the above steps (1) to (4), when n is 11, eTime is 8:17, and R is calculated to be 11/(8:17-8:00) 11/17 is 0.65, that is, R is greater than 0.5;
(6) f1 broadcasts sLocation, vehicle type C and cargo weight to forklifts on the same chain, other forklifts on the chain receive the data and judge whether the task is suitable to be executed, namely whether the vehicle type is consistent with C, if so, the cargo starting point area is displayed on the terminal equipment, and a driver selects whether to support according to actual conditions.
Referring to fig. 3, in another aspect, the present invention provides a vehicle dispatching system based on an industrial vehicle chain, comprising: IOT devices 301, weight sensors 302, and indoor positioning devices 303; the IOT device 301 is connected to the weight sensor 302 and the indoor positioning device 303 respectively; specifically, the method comprises the following steps:
the weight sensor 302 sends the weight of the goods detected during the fork operation and the fork operation time to the IOT device 301;
the IOT equipment 301 acquires the current position of the industrial vehicle through an indoor positioning device 303 to obtain a cargo starting point area; the IOT device 301 determines whether the current fork task is the first fork in the starting area of the cargo, and if so, sets the fork time as the starting time;
the weight sensor 302 sends the detected discharge time to the IOT device 301; after receiving the unloading time, the IOT device 301 acquires the current position of the industrial vehicle through the indoor positioning device 303 to obtain a cargo destination area; the IOT device 301 adds 1 to the number of transport times;
based on the carrying times, the starting time and the unloading time, the IOT device 301 calculates the busyness of the industrial vehicle, and compares the busyness with a preset value; if the IOT device 301 determines that the busyness is greater than the preset value, the cargo related data and the industrial vehicle related data are synchronized to other industrial vehicles on the established industrial vehicle chain.
In this embodiment, the vehicle dispatching system further includes: a terminal device 304; all industrial vehicles on the industrial vehicle chain are provided with the terminal device 304, and the terminal device 304 is connected with the IOT device 301; when other industrial vehicles in the industrial vehicle chain receive the synchronous data, whether the vehicle type of the industrial vehicle is consistent with the vehicle type in the synchronous data or not is judged, and if so, the goods starting point area in the synchronous data is displayed on the terminal device 304.
Finally, it should be further noted that, in the present embodiment, 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, the above step identifiers are only for convenience of reading, and the steps can be correspondingly adjusted in specific implementation.
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. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A vehicle scheduling method based on an industrial vehicle chain is characterized by comprising the following steps:
the weight sensor sends the weight of the goods detected during goods forking and the goods forking time to the IOT equipment;
the IOT equipment acquires the current position of an industrial vehicle through an indoor positioning device to obtain a cargo starting point area; the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time;
the weight sensor sends the detected unloading time to the IOT equipment; after receiving the unloading time, the IOT equipment acquires the current position of the industrial vehicle through the indoor positioning device to obtain a cargo destination area; adding 1 to the carrying times by the IOT equipment;
based on the carrying times, the starting time and the unloading time, the IOT equipment calculates the busyness of the industrial vehicle and compares the busyness with a preset value; and if the IOT equipment judges that the busyness is greater than the preset value, synchronizing the goods related data and the industrial vehicle related data to other industrial vehicles on the established industrial vehicle chain.
2. The industrial vehicle chain-based vehicle dispatching method according to claim 1, wherein based on the carrying times, the starting time and the unloading time, the IOT device calculates the busyness of the industrial vehicle in the following specific calculation manner:
R＝n/(eTime-T)
wherein R represents busyness; n represents the number of conveyance times; eTime represents the unloading time; t represents the start time.
3. The industrial vehicle chain-based vehicle dispatching method according to claim 1, wherein the IOT device determines whether the error between the collected cargo starting point region and the cargo starting point region collected last time is within a first preset error range, and if so, determines that the cargo starting point regions are the same.
4. The industrial vehicle chain-based vehicle dispatching method as claimed in claim 1, wherein the IOT device determines whether the error between the collected cargo destination area and the cargo destination area collected last time is within a second preset error range, and if so, determines that the cargo destination areas are the same.
5. The industrial vehicle chain-based vehicle dispatching method of claim 1, further comprising: and if the IOT equipment judges that the current fork task is the first fork in the starting area of the goods, setting the carrying times to be 0.
6. The industrial vehicle chain-based vehicle dispatching method according to claim 1, wherein the IOT device adds 1 to the number of transports, specifically comprising:
the IOT equipment judges whether the goods terminal area is the same as the goods terminal area collected last time, if so, the IOT equipment adds 1 to the carrying times; if the difference is not the same, the carrying times are set to 1, and meanwhile the starting time is reset to the current fork time.
7. The industrial vehicle chain-based vehicle dispatching method of claim 1, wherein the cargo-related data comprises the cargo starting area and cargo weight; the industrial vehicle-related data includes vehicle model.
8. The industrial vehicle chain-based vehicle dispatching method of claim 1, wherein the weight sensor is disposed on a fork; the IOT device is disposed on the industrial vehicle; the indoor positioning devices are arranged on the industrial vehicle, or in a factory building of a goods starting point region and a goods terminal point region, the indoor positioning devices capable of collecting the current position of the industrial vehicle are respectively arranged.
9. A vehicle dispatch system based on an industrial vehicle chain, comprising: the system comprises IOT equipment, a weight sensor and an indoor positioning device; the IOT equipment is respectively connected with the weight sensor and the indoor positioning device; specifically, the method comprises the following steps:
the weight sensor sends the weight of the goods detected during goods forking and the goods forking time to the IOT equipment;
the IOT equipment acquires the current position of an industrial vehicle through an indoor positioning device to obtain a cargo starting point area; the IOT equipment judges whether the current fork task is the first fork in the starting area of the goods, if so, the fork time is set as the starting time;
the weight sensor sends the detected unloading time to the IOT equipment; after receiving the unloading time, the IOT equipment acquires the current position of the industrial vehicle through the indoor positioning device to obtain a cargo destination area; adding 1 to the carrying times by the IOT equipment;
based on the carrying times, the starting time and the unloading time, the IOT equipment calculates the busyness of the industrial vehicle and compares the busyness with a preset value; and if the IOT equipment judges that the busyness is greater than the preset value, synchronizing the goods related data and the industrial vehicle related data to other industrial vehicles on the established industrial vehicle chain.
10. The industrial vehicle chain-based vehicle dispatching system of claim 9, further comprising: a terminal device; all industrial vehicles on the industrial vehicle chain are provided with the terminal equipment, and the terminal equipment is connected with the IOT equipment; and when other industrial vehicles on the industrial vehicle chain receive the synchronous data, judging whether the vehicle type of the industrial vehicle is consistent with the vehicle type in the synchronous data, and if so, displaying the goods starting point area in the synchronous data on the terminal equipment.
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| KR20170142418A (en) * | 2016-06-17 | 2017-12-28 | (주)중외정보기술 | System for tracking real time location of cargo using forklift |
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| KR20170142418A (en) * | 2016-06-17 | 2017-12-28 | (주)중외정보기술 | System for tracking real time location of cargo using forklift |
| CN208335219U (en) * | 2017-12-28 | 2019-01-04 | 北京联合大学 | A kind of Logistics Park management system based on RFID |
| CN109726890A (en) * | 2018-11-23 | 2019-05-07 | 青岛智能产业技术研究院 | A kind of Vehicle Dispatch Administration platform and method based on parallel car networking |
| CN109670684A (en) * | 2018-12-03 | 2019-04-23 | 北京顺丰同城科技有限公司 | The dispatching method and electronic equipment of goods stock based on time window |
| CN111091070A (en) * | 2019-11-27 | 2020-05-01 | 宏图智能物流股份有限公司 | Thermal imaging-based truck loading and unloading time monitoring method and system |
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