CN108803605B

Movatterモバイル変換

Info

Publication number: CN108803605B
Application number: CN201810582778.6A
Authority: CN
Inventors: 彭华明; 宋济川; 朱忠
Original assignee: Yonegy Logistics Automation Technology Co ltd
Current assignee: Yonegy Logistics Automation Technology Co ltd
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2021-08-13
Anticipated expiration: 2038-06-05
Also published as: CN108803605A

Abstract

Translated fromChinese

一种控制AGV小车进行物料取放操作的方法及货位管理系统，包括：货位管理系统接收目标AGV小车针对目标货位的状态查询指令，并根据状态查询指令查询目标货位的当前状态，以及根据当前状态判断目标货位是否满足取放条件；如果目标货位满足取放条件，则向目标AGV小车发送执行指令，以使目标AGV小车执行对目标货位的取放物料任务。实施本发明实施例，能够使得AGV小车在执行取放物料任务时知晓货位情况，从而降低了AGV小车误操作事件发生的概率。

A method for controlling an AGV trolley to carry out material picking and placing operations and a cargo location management system, comprising: the cargo location management system receives a state query instruction of a target AGV trolley for the target cargo location, and queries the current state of the target cargo location according to the state query instruction, And according to the current state, it is judged whether the target cargo space meets the pick and place conditions; if the target cargo position meets the pick and place conditions, an execution command is sent to the target AGV trolley, so that the target AGV trolley performs the task of picking and placing materials for the target cargo position. By implementing the embodiments of the present invention, the AGV trolley can know the situation of the cargo space when the AGV trolley performs the task of picking and placing materials, thereby reducing the probability of the AGV trolley misoperation event.

Description

Method for controlling AGV (automatic guided vehicle) to carry out material taking and placing operation and goods location management system

Technical Field

The invention relates to the technical field of logistics, in particular to a method for controlling an AGV to carry out material taking and placing operation and a goods space management system.

Background

Along with the continuous development of economy, the importance of logistics in economy shows increasingly, therefore, the requirement on the efficiency and the accuracy of goods sorting and carrying is higher and higher. At present, the AGV dolly is generally used in the commodity circulation link and carries out letter sorting and transport of goods.

An AGV (automated Guided vehicle), also called an unmanned vehicle, is a transport vehicle equipped with an electromagnetic or optical automatic guiding device, capable of running along a specified guiding path, having safety protection and various transfer functions, using a battery as power, and completing the transfer of goods by unmanned driving, and has high automation degree and flexible and convenient use. However, when the AGV car is used for goods storage and retrieval, a malfunction may occur. For example, when the current AGV needs to take materials, if the cargo space has no materials, the AGV may be operated incorrectly; or, when the material is put to current AGV dolly needs, if there is the material on the goods position, also can cause the maloperation of AGV dolly, further still can cause the damage of material. Therefore, it is important to know the cargo space condition in order to reduce the probability of the occurrence of the misoperation event of the AGV.

Disclosure of Invention

The embodiment of the invention discloses a method for controlling an AGV to carry out material taking and placing operations and a goods position management system, which can know the goods position condition, thereby reducing the probability of the occurrence of misoperation events of the AGV.

The first aspect of the embodiment of the invention discloses a method for controlling an AGV to carry out material taking and placing operations, which comprises the following steps:

a goods position management system receives a state query instruction of a target AGV car aiming at a target goods position;

the goods position management system inquires the current state of the target goods position from a stored goods position state database according to the state inquiry instruction, and judges whether the target goods position meets the pick-and-place condition or not according to the current state;

and if the target cargo space meets the pick-and-place condition, the cargo space management system sends an execution instruction to the target AGV so that the target AGV executes a task of picking and placing materials aiming at the target cargo space.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after determining that the target cargo space satisfies the pick-and-place condition, the method further includes:

the goods position management system acquires a target position of the target goods position and determines a first target departure track of the target AGV car reaching the target goods position according to the target position;

the goods location management system acquires the to-be-started tracks of all AGV trolleys to be started, and respectively calculates the track overlap ratio of each to-be-started track and the first target starting track;

the goods location management system acquires a first priority of the target AGV and a second priority of the target AGV to be started with the highest track contact ratio in all the AGV to be started, and judges whether the first priority is greater than the second priority or not;

if first priority is greater than the second priority, goods position management system to the target is treated the AGV dolly of starting and is sent and postpone the instruction of starting, so that the target is treated the AGV dolly of starting and is started after length of time is predetermineeing, and carry out to the target AGV dolly sends the execution instruction, so that the execution of target AGV dolly is directed at the target goods position get put the material task.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the load level management system sends an execution instruction to the target AGV to make the target AGV execute a task of picking and placing the material with respect to the target load level, the method further includes:

the goods yard management system detects the real-time distance between the target AGV and a control area, wherein the control area is an area in which the number of AGV passing through the control area in unit time is greater than or equal to the preset passing number;

when the real-time distance is smaller than or equal to a preset safety distance, the cargo space management system judges whether an intersection exists within the real-time distance between the target AGV trolley and the control area;

if target AGV with control regional real-time distance within range exists the intersection, goods position management system basis target AGV's current position, the sign of intersection and the target location of target goods position is right again target AGV carries out route planning, obtains the second target orbit of starting, and will the second target orbit of starting send to target AGV, so that target AGV follows the second target orbit of starting.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the cargo space management system receives first cargo space information fed back by the target AGV, and determines whether the first cargo space information matches with target cargo space information of the target cargo space, where the first cargo space information is the cargo space information closest to the target AGV obtained when the target AGV arrives at the track end of the second target departure track;

and if the first goods position information is matched with the target goods position information, the goods position management system determines that the target AGV arrives at the target position of the target goods position.

the goods space management system receives a task completion instruction sent by the target AGV, wherein the task completion instruction is sent after the target AGV places a target material in the target goods space or takes the target material from the target goods space;

the cargo space management system modifies the real-time state of the target cargo space according to the task completion instruction;

the method further comprises the following steps:

the goods space management system acquires a first image and a second image of the target AGV aiming at the target material, wherein the first image is shot when the target AGV arrives at an original position of the target material and before the target material is taken away, and the second image is shot when the target AGV arrives at a target position where the target material needs to be placed and after the target material is placed at the target position;

the goods space management system analyzes the first image and the second image to obtain a difference value between the second image and the second image, and judges whether the difference value is smaller than a preset difference value or not;

and if the difference value is greater than the preset difference value, the goods space management system records the damage state of the target material and sends a prompt message to a management terminal of a manager, wherein the prompt message is used for prompting that the target material is damaged.

The second aspect of the embodiment of the present invention discloses a cargo space management system, which is characterized by comprising:

the receiving unit is used for receiving a state query instruction of a target AGV car for a target cargo space;

the query unit is used for querying the current state of the target goods location from a stored goods location state database according to the state query instruction;

the first judgment unit is used for judging whether the target goods space meets the pick-and-place condition according to the current state;

and the sending unit is used for sending an execution instruction to the target AGV when the first judging unit judges that the target goods position meets the taking and placing conditions, so that the target AGV executes a task of taking and placing the material aiming at the target goods position.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the first obtaining unit is configured to obtain a target position of the target cargo space after the first judging unit judges that the target cargo space meets the pick-and-place condition;

the first determining unit is used for determining a first target departure track of the target AGV car reaching the target goods space according to the target position;

the first acquisition unit is also used for acquiring the tracks to be started of all AGV trolleys to be started;

the calculating unit is used for calculating the track coincidence degree of each to-be-started track and the first target starting track respectively;

the first acquisition unit is further used for acquiring a first priority of the target AGV and a second priority of the target AGV to be started with the highest track coincidence degree in all the AGV to be started;

the first judging unit is further configured to judge whether the first priority is greater than the second priority;

the sending unit is further used for judging that the first priority is greater than the second priority by the first judging unit, sending a delayed starting instruction to the target AGV to be started so as to enable the target AGV to be started after preset time, and sending an execution instruction to the target AGV so as to enable the target AGV to execute a material taking and placing task aiming at the target goods space.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the detecting unit is configured to detect a real-time distance between the target AGV and a control area after the sending unit sends an execution instruction to the target AGV so that the target AGV executes a task of picking and placing a material for the target cargo space, where the control area is an area where the number of AGV passing through in unit time is greater than or equal to a preset passing number;

the first judging unit is further used for judging whether an intersection exists within the real-time distance between the target AGV and the control area when the real-time distance is smaller than or equal to a preset safety distance;

the route planning unit is used for planning a route of the target AGV again according to the current position of the target AGV, the mark of the intersection and the target position of the target goods space to obtain a second target departure track when the first judging unit judges that the intersection exists within the real-time distance range between the target AGV and the control area;

the sending unit is further configured to send the second target departure track to the target AGV, so that the target AGV starts according to the second target departure track.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the receiving unit is further configured to receive first cargo space information fed back by the target AGV;

the first judging unit is further configured to judge whether the first goods position information matches with target goods position information of the target goods position, where the first goods position information is the goods position information closest to the target AGV obtained when the target AGV reaches a trajectory end point of the second target departure trajectory;

and the second determining unit is used for determining that the target AGV arrives at the target position of the target cargo space when the first judging unit judges that the first cargo space information is matched with the target cargo space information.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the receiving unit is further configured to receive a task completion instruction sent by the target AGV after the sending unit sends an execution instruction to the target AGV so that the target AGV executes a task of picking and placing the target slot, where the task completion instruction is sent after the target AGV places the target material in the target slot or takes the target material from the target slot;

the cargo space management system further comprises:

the state modifying unit is used for modifying the real-time state of the target cargo space according to the task completing instruction;

the second acquisition unit is used for acquiring a first image and a second image of the target AGV aiming at the target material, wherein the first image is shot when the target AGV arrives at an original position of the target material and before the target material is taken away, and the second image is shot when the target AGV arrives at a target position where the target material needs to be placed and after the target material is placed at the target position;

the analysis unit is used for analyzing the first image and the second image to obtain a difference value between the second image and the second image;

the second judging unit is used for judging whether the difference value is smaller than a preset difference value or not;

the recording unit is used for recording the damage state of the target material when the second judging unit judges that the difference value is greater than the preset difference value;

the sending unit is further used for sending a prompt message to a management terminal of a manager, wherein the prompt message is used for prompting that the target material is damaged.

The third aspect of the embodiment of the present invention discloses another cargo space management system, including:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to execute all or part of the steps of any one of the methods disclosed in the first aspect of the embodiments of the present invention.

A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium, which is characterized by storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute all or part of the steps in any one of the methods disclosed in the first aspect of the embodiments of the present invention.

A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, a goods position management system receives a state query instruction of a target AGV car for a target goods position, queries the current state of the target goods position according to the state query instruction, and judges whether the target goods position meets a pick-and-place condition or not according to the current state; and if the target cargo space meets the picking and placing conditions, sending an execution instruction to the target AGV so that the target AGV executes a task of picking and placing the target cargo space. Therefore, by implementing the embodiment of the invention, the AGV trolley can know the goods position condition when executing the task of taking and placing the materials, thereby reducing the probability of the occurrence of misoperation events of the AGV trolley.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic flow chart illustrating a method for controlling an AGV to perform a material pick-and-place operation according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating another method for controlling an AGV to perform a material pick-and-place operation according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart illustrating another method for controlling an AGV to perform a material handling operation according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a cargo space management system according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of another cargo space management system according to the embodiment of the present invention;

FIG. 6 is a schematic structural diagram of another cargo space management system according to an embodiment of the present invention;

fig. 7 is a block diagram of a part of a management device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the invention discloses a method for controlling an AGV to carry out material taking and placing operations and a goods position management system, which can know the goods position condition, thereby reducing the probability of the occurrence of misoperation events of the AGV. The following are detailed below.

Example one

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for controlling an AGV to perform a material picking operation according to an embodiment of the present invention. As shown in fig. 1, the method for controlling the AGV to perform the material picking and placing operation may include the following steps:

101. and the goods position management system receives a state query instruction of the target AGV car for the target goods position.

As an optional implementation manner, before receiving a state query instruction of a target AGV for a target slot, the slot management system may further obtain state information of all AGV, and determine whether there is an AGV in a non-working state (not executing any task of taking and placing materials currently) according to the state information, if there is an AGV in a non-working state, determine the AGV in the non-working state as the target AGV, and issue a task of taking and placing materials for the target slot to the target AGV, so that the target AGV sends the state query instruction for the target slot to the slot management system after receiving the task of taking and placing materials. Further optionally, after determining that there is an AGV in a non-working state, position information of all AGV in the non-working state may be obtained, and a target AGV may be determined according to the type of the task of picking and placing the material (picking or placing the material) and the position information. It should be noted that the task of picking and placing the material may be issued by the goods space management system to the target AGV, or may be issued by a client having a requirement for the target material to the target AGV through a client terminal.

102. And the goods position management system inquires the current state of the target goods position from the stored goods position state database according to the state inquiry instruction.

In the embodiment of the present invention, the current state of the target cargo space may include four types, that is, to-be-taken, to-be-put, and not-to-be-put, where to-be-taken indicates that the cargo space management system has sent an execution instruction to the AGV (the execution instruction is used for the AGV to go to the target cargo space to execute the material fetching task), but has not received a task completion instruction sent by the AGV currently; the target goods position is used for storing the target goods position, and the target goods position is used for storing the target goods position; the method comprises the steps that a material fetching task for a target goods position is already put, wherein the material is currently placed in the target goods position, and no AGV trolley is executing the material fetching task for the target goods position; not put means that the target bay is not currently having any material placed and that no AGV carts are performing a put material task for the target bay.

103. The goods position management system judges whether the target goods position meets the pick-and-place condition according to the current state, and if the target goods position meets the pick-and-place condition, thestep 104 is executed; and if the target goods position does not meet the pick-and-place condition, ending the process.

In the embodiment of the present invention, it should be noted that, if the target cargo space does not satisfy the condition, the cargo space management system may further send an error prompt message to the target AGV, where the error prompt message is used to prompt that the target cargo space does not satisfy the pick-and-place condition of the target AGV; or, the goods location management system detects whether there is a goods location meeting a pick-and-place condition corresponding to a task to be executed by the target AGV from all the goods locations within a preset distance threshold (e.g. 3m) from the target goods location, if not, an error prompt message is sent to the target AGV, and if so, one of the goods locations within the preset distance threshold (e.g. 3m) from the target goods location is fed back to the target AGV to trigger the target AGV to execute a pick-and-place task for the one of the goods locations.

Forsteps 101 to 103, for example, when the material picking and placing task received by the target AGV is to place the target material in the target slot (i.e., the material placing task), the slot management system receives a state query instruction for the target slot sent by the target AGV to the slot management system, and queries the current state of the target slot according to the state query instruction, if the current state of the target slot is not put in (i.e., the target slot does not currently have any material placed and no AGV is executing the material placing task for the target slot), it may be determined that the current state of the target slot satisfies the picking and placing conditions, and step 104 is executed.

104. And the goods location management system sends an execution instruction to the target AGV so that the target AGV executes a task of taking and placing the materials aiming at the target goods location.

In the embodiment of the invention, the target AGV trolley can establish communication connection with the goods position management system through the built-in communication module in the process of executing the task of taking and placing the materials aiming at the target goods position. Optionally, the cargo space management system may monitor, in real time, a communication environment around the target AGV through each spectrum sensing module in a process of executing a task of picking and placing a material for the target cargo space, so as to acquire an idle frequency band in the communication environment, detect whether a receiving time of receiving a communication message sent by the target AGV is longer than a preset receiving time, and switch, if so, a current frequency band in communication with the target AGV to the monitored idle frequency band. Therefore, the embodiment of the invention can timely switch the current communication frequency band to the idle frequency band when detecting that the communication effect between the goods space management system and the target AGV trolley is not good, thereby improving the communication smoothness degree between the goods space management system and the target AGV trolley.

As an optional implementation manner, after an execution instruction is sent to the target AGV, so that the target AGV executes a task of taking and placing the material for the target cargo space, the cargo space management system may further collect reflected light information formed by the laser installed on the target AGV irradiating other AGV equipped with a reflector, acquire a light intensity image according to the collected reflected light information, and determine the distance between the target AGV and the other AGV according to the area size of the light intensity image. The light intensity image projected on the reflector by the laser emitted by the laser changes along with the change of the distance between two trolleys (a target AGV and other AGV trolleys), and particularly, the area of the light intensity image is larger when the distance between the two trolleys is shorter; when the distance between the two trolleys is longer, the area of the light intensity image is smaller. Therefore, the distance between the two AGV trolleys can be determined according to the size of the light intensity image formed on the reflector by the laser, and the problems that the target AGV trolley cannot effectively avoid and easily collides with other AGV trolleys in the process of executing the task of taking and placing materials are effectively solved.

Therefore, by the method described in fig. 1, the AGV can know the cargo space condition when executing the task of taking and placing the materials, so that the probability of the occurrence of misoperation events of the AGV is reduced; the current communication frequency band can be switched to the idle frequency band in time when the poor communication effect between the goods level management system and the target AGV trolley is detected, so that the communication smoothness degree between the goods level management system and the target AGV trolley is improved; in addition, also can confirm the distance between two AGV dollies according to the size that laser formed the light intensity image on the reflector panel, effectively solved target AGV dolly and can't effectively dodge, collide with other AGV dollies easily at the in-process of carrying out the task of putting the material of putting.

Example two

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another method for controlling an AGV to perform a material picking operation according to an embodiment of the present invention. As shown in fig. 2, the method for controlling the AGV to perform the material picking and placing operation may include the following steps:

in the embodiment of the invention, the method for controlling the AGV to perform the material taking and placing operation comprises thesteps 201 to 203, and for the description of thesteps 201 to 203, please refer to the detailed description of thesteps 101 to 103 in the first embodiment, which is not described again in the embodiment of the invention. Wherein, when the target cargo space meets the pick-and-place condition instep 203,step 204 is executed; and when the target goods position is judged not to meet the pick-and-place condition, the process is ended.

204. The goods position management system obtains a target position of the target goods position and determines a first target departure track of the target AGV car reaching the target goods position according to the target position.

In the embodiment of the invention, the goods position management system can determine the first target departure track of the target AGV to reach the target goods position according to the target position of the target goods position and the initial position of the target AGV.

In the embodiment of the present invention, as an optional implementation manner, the obtaining, by the cargo space management system, a target position of the target cargo space, and determining, according to the target position, a first target departure trajectory of the target AGV that reaches the target cargo space may include:

the goods yard management system acquires current parameters of a target AGV, wherein the current parameters comprise residual power, obstacle avoidance priority, power consumption in a current bearing state and average speed in the current bearing state, the obstacle avoidance priority is used for indicating an obstacle avoidance strategy when the target AGV meets other AGV, wherein the higher the obstacle avoidance priority is, the target AGV needs to avoid a travel path for the target AGV, and the lower the obstacle avoidance priority is, the target AGV needs to avoid the travel path for the other AGV;

the goods position management system determines all tracks from the current position of a target AGV trolley to the target position of the target goods position and the track length of each track, collects sensing data of a sensor preset on each track in all tracks, and determines the vacancy degree of each track in all tracks according to the sensing data;

under the current parameters of the target AGV trolley, the goods space management system calculates the running time spent by the target AGV trolley to run along each track according to the track lengths of all the tracks and the vacancy degree of each track;

and the cargo space management system determines the track with the shortest driving time length in all the tracks as the first target departure track.

Therefore, the optional implementation method can select the shortest time-consuming track for the target AGV based on multiple dimensions (the current parameters of the target AGV, the track length of each track and the idle length), and is beneficial to improving the task execution efficiency of the AGV.

205. The goods yard management system obtains the tracks to be started of all AGV trolleys to be started, and respectively calculates the track overlap ratio of each track to be started and the first target starting track.

206. The goods yard management system obtains a first priority of the target AGV and a second priority of the target AGV to be started with the highest track contact ratio in all the AGV to be started.

207. The cargo space management system judges whether the first priority is higher than the second priority, if so,step 208 is executed; if the first priority is not greater than the second priority, the flow is ended.

As an optional implementation manner, after determining that the first priority is greater than the second priority, the cargo space management system may further obtain a first departure position of the target AGV and a second departure position of the target AGV to be departed, calculate a position distance between the first departure position and the second departure position, and determine whether the position distance is smaller than a preset position distance, if the position distance is smaller than the preset position distance, executestep 208; and if the position distance is not less than the preset position distance, sending a speed adjusting instruction to the target AGV to be started so that the target AGV to be started starts at a starting speed less than that of the target AGV. Therefore, according to the embodiment of the invention, the adjustment instruction (speed adjustment instruction or delayed starting instruction) can be sent to the target AGV to be started in a targeted manner according to the distance between the two AGV dollies, so that the situation that the AGV dollies with similar starting tracks are in travel congestion is avoided.

208. The goods location management system sends a delayed starting instruction to the target AGV to be started so that the target AGV to be started starts after a preset time length, and sends an execution instruction to the target AGV so that the target AGV executes a task of taking and placing materials for the target goods location.

Therefore, by the method described in fig. 2, the AGV can know the cargo space condition when executing the task of taking and placing the materials, so that the probability of the occurrence of misoperation events of the AGV is reduced; the current communication frequency band can be switched to the idle frequency band in time when the poor communication effect between the goods level management system and the target AGV trolley is detected, so that the communication smoothness degree between the goods level management system and the target AGV trolley is improved; the distance between the two AGV dollies can be determined according to the size of a light intensity image formed on the reflector by the laser, so that the problems that a target AGV dolly cannot effectively avoid and easily collides with other AGV dollies in the process of executing a material taking and placing task are effectively solved; in addition, the condition that the travel of AGV trolleys with similar starting tracks is blocked can be avoided.

EXAMPLE III

Referring to fig. 3, fig. 3 is a schematic flow chart illustrating another method for controlling an AGV to perform a material picking operation according to an embodiment of the present invention. As shown in fig. 3, the method for controlling the AGV to perform the material picking and placing operation may include the following steps:

in the embodiment of the invention, the method for controlling the AGV to perform the material taking and placing operation includessteps 301 to 308, and for the description of thesteps 301 to 308, please refer to the detailed description of thestep 201 to 208 in the second embodiment, which is not described again in the embodiment of the invention.

309. The goods yard management system detects the real-time distance between the target AGV and the control area, and the control area is an area where the number of the AGV passing through in unit time is larger than or equal to the preset passing number.

In the embodiment of the present invention, the control area is used to indicate an area where a current traffic flow is large and a road congestion occurs.

310. When the real-time distance is smaller than or equal to the preset safety distance, the cargo space management system judges whether an intersection exists within the real-time distance between the target AGV and the control area, and if the intersection exists within the real-time distance range between the target AGV and the control area, thestep 312 is executed; if no intersection exists in the real-time distance range between the target AGV trolley and the controlled area, the process is ended.

As an optional implementation manner, after the cargo space management system determines that no intersection exists in the real-time distance range between the target AGV and the control area, a speed reduction instruction may be sent to the target AGV, so that the target AGV reduces the running speed, and after detecting that the real-time distance between the target AGV and the control area is greater than the preset safety distance, a speed increase instruction is sent to the target AGV, so that the target AGV runs at the original speed.

311. And the goods space management system performs route planning on the target AGV again according to the current position of the target AGV, the mark of the intersection and the target position of the target goods space to obtain a second target starting track.

312. And the goods location management system sends the second target departure track to the target AGV so that the target AGV starts according to the second target departure track.

In step 309-312, it can be seen that, according to the embodiment of the invention, the target AGV can be scheduled orderly by detecting the real-time distance between the target AGV and the controlled area and when the real-time distance is too short, so that the probability of collision or congestion is reduced.

In an alternative embodiment, after performingstep 312, the method may further include the following operations:

313. and the goods position management system receives first goods position information fed back by the target AGV, wherein the first goods position information is the goods position information which is obtained when the target AGV reaches the track end point of the starting track of the second target and is closest to the target AGV.

314. The cargo space management system judges whether the first cargo space information is matched with the target cargo space information of the target cargo space, and if the first cargo space information is matched with the target cargo space information, thestep 315 is executed; and if the first goods position information is not matched with the target goods position information, ending the process.

315. And the goods position management system determines that the target AGV arrives at the target position of the target goods position.

In an alternative embodiment, after performingstep 315, the method may further include the following operations:

316. and the cargo space management system receives a task completion instruction sent by the target AGV trolley and modifies the real-time state of the target cargo space according to the task completion instruction.

In the embodiment of the invention, the task completion instruction is sent after the target AGV trolley places the target material in the target goods space or takes the target material from the target goods space.

In an alternative embodiment, after performingstep 316, the method may further include the following operations:

317. the goods yard management system acquires a first image and a second image of a target AGV aiming at a target material, wherein the first image is shot when the target AGV arrives at an original position of the target material and before the target material is taken away, and the second image is shot when the target AGV arrives at a target position where the target material needs to be placed and after the target material is placed at the target position.

In the embodiment of the invention, when the task of taking and placing the materials refers to going to a target goods space to take the target materials, the original positions of the target materials can represent the positions of other goods spaces or a picking platform, and the target positions can represent the positions of the target goods space; when the task of picking and placing the materials refers to go to a target cargo space to place the target materials, the original positions of the target materials can represent the positions of the target cargo space, and the target positions can represent the positions of other cargo spaces or a picking platform.

318. The goods space management system analyzes the first image and the second image to obtain a difference value between the second image and the second image.

319. The cargo space management system judges whether the difference value is smaller than a preset difference value, and if the difference value is larger than the preset difference value, the step 320 is executed; if the difference value is not greater than the preset difference value, the process is ended.

320. The goods space management system records the damage state of the target material and sends a prompt message to a management terminal of a manager, wherein the prompt message is used for prompting that the target material is damaged.

In the embodiment of the invention, because the target material is easy to be damaged in the process of carrying the target material, the embodiment of the invention can judge whether the target material is damaged or not by acquiring the first image of the target material before being carried and the second image after being carried, analyzing and comparing the difference value between the two images and judging whether the target material is damaged or not according to the difference value, and once the target material is determined to be damaged according to the difference value of the images, the damaged state of the target material is timely recorded and is linked with the management terminal, so that the AGV trolley can be effectively prevented from executing a task of taking and placing the damaged target material, and the working efficiency of the target AGV trolley is improved.

Therefore, by the method described in fig. 3, the AGV can know the cargo space condition when executing the task of taking and placing the materials, so that the probability of the occurrence of misoperation events of the AGV is reduced; the smoothness degree of communication between the goods position management system and the target AGV trolley can be improved; the problems that the target AGV cannot effectively avoid and easily collides with other AGV in the process of executing the task of taking and placing the materials can be effectively solved; the situation that the AGV trolleys with similar starting tracks are blocked in traveling can be avoided; the real-time distance between the target AGV and the control area can be detected, and the target AGV can be orderly scheduled when the real-time distance is too short, so that the probability of collision or congestion is reduced; in addition, the AGV trolley can be effectively prevented from executing a task of taking and placing the damaged target material, and therefore the working efficiency of the target AGV trolley is improved.

Example four

Referring to fig. 4, fig. 4 is a schematic structural diagram of a cargo space management system according to an embodiment of the present invention. As shown in fig. 4, the cargo space management system may include:

the receivingunit 401 is configured to receive a status query instruction of the target AGV cart for the target cargo space, and trigger thequerying unit 402 to start.

As an optional implementation manner, before receiving the state query instruction of the target AGV for the target slot, the receivingunit 401 may further obtain state information of all AGV, and determine whether there is an AGV in a non-working state (not executing any task of taking and placing materials currently) according to the state information, if there is an AGV in a non-working state, determine the AGV in the non-working state as the target AGV, and issue a task of taking and placing materials for the target slot to the target AGV, so that the target AGV sends the state query instruction for the target slot to the slot management system after receiving the task of taking and placing materials. Further optionally, after determining that there is an AGV in a non-working state, position information of all AGV in the non-working state may be obtained, and a target AGV may be determined according to the type of the task of picking and placing the material (picking or placing the material) and the position information.

Thequery unit 402 is configured to query the current state of the target cargo space from the stored cargo space state database according to the state query instruction, and provide the query result to thefirst determination unit 403.

The first determiningunit 403 is configured to determine whether the target cargo space meets the pick-and-place condition according to the current state.

In the embodiment of the present invention, it should be noted that, if the target cargo space does not satisfy the condition, the first determiningunit 403 may further send an error prompting message to the target AGV, where the error prompting message is used to prompt that the target cargo space does not satisfy the pick-and-place condition of the target AGV; or, the first determiningunit 403 detects whether there is a loading location meeting the pick-and-place condition corresponding to the task that needs to be executed by the target AGV from all the loading locations within the preset distance threshold (e.g. 3m) from the target loading location, if not, sends an error prompt message to the target AGV, and if so, feeds back one of the loading locations within the preset distance threshold (e.g. 3m) from the target loading location to the target AGV to trigger the target AGV to execute the pick-and-place task for the one of the loading locations.

A sendingunit 404, configured to send an execution instruction to the target AGV when the first determiningunit 403 determines that the target cargo space meets the pick-and-place condition, so that the target AGV executes a task of picking and placing the material for the target cargo space.

Optionally, the sendingunit 404 may monitor, in real time, a communication environment around the target AGV through each spectrum sensing module in a process of executing a task of picking and placing a material for a target cargo space by the target AGV, so as to obtain an idle frequency band in the communication environment, detect whether a receiving time of receiving a communication message sent by the target AGV is greater than a preset receiving time, and switch a current frequency band in communication with the target AGV to the monitored idle frequency band if the receiving time is greater than the preset receiving time. Therefore, the embodiment of the invention can timely switch the current communication frequency band to the idle frequency band when detecting that the communication effect between the goods space management system and the target AGV trolley is not good, thereby improving the communication smoothness degree between the goods space management system and the target AGV trolley.

As an optional implementation manner, the cargo space management system may further include a collecting unit (not shown in fig. 4), the sendingunit 404 sends an execution instruction to the target AGV, so that the target AGV executes a task of taking and placing the material for the target cargo space, and then may trigger the collecting unit to start, the collecting unit collects reflected light information formed by the laser installed on the target AGV and irradiating other AGV equipped with the reflector, acquires a light intensity image according to the collected reflected light information, and determines the distance between the target AGV and the other AGV according to the area size of the light intensity image.

Therefore, the cargo space management system described in fig. 4 can enable the AGV to know the cargo space condition when executing the task of picking and placing the material, thereby reducing the probability of occurrence of the incorrect operation event of the AGV; the current communication frequency band can be switched to the idle frequency band in time when the poor communication effect between the goods level management system and the target AGV trolley is detected, so that the communication smoothness degree between the goods level management system and the target AGV trolley is improved; in addition, also can confirm the distance between two AGV dollies according to the size that laser formed the light intensity image on the reflector panel, effectively solved target AGV dolly and can't effectively dodge, collide with other AGV dollies easily at the in-process of carrying out the task of putting the material of putting.

EXAMPLE five

Referring to fig. 5, fig. 5 is a schematic structural diagram of another cargo space management system according to an embodiment of the present invention, wherein the cargo space management system shown in fig. 5 is obtained by further optimizing the cargo space management system shown in fig. 4. Compared with the cargo space management system shown in fig. 5, the cargo space management system shown in fig. 5 further includes:

a first obtainingunit 405, configured to obtain a target position of the target cargo space after the first determiningunit 403 determines that the target cargo space meets the pick-and-place condition, and provide the target position to the first determiningunit 406.

And the first determiningunit 406 is used for determining a first target departure track of the target AGV car reaching the target cargo space according to the target position.

In the embodiment of the present invention, the first determiningunit 406 may determine the first target departure track of the target AGV to the target cargo space according to the target position of the target cargo space and the start position of the target AGV.

In the embodiment of the present invention, as an optional implementation manner, the manner in which the first determiningunit 406 obtains the target position of the target cargo space and determines, according to the target position, that the target AGV arrives at the first target departure track of the target cargo space specifically is:

acquiring current parameters of a target AGV, wherein the current parameters comprise residual electric quantity, obstacle avoidance priority, power consumption in a current bearing state and average speed in the current bearing state, the obstacle avoidance priority is used for indicating an obstacle avoidance strategy when the target AGV meets other AGV, the higher the obstacle avoidance priority is, the other AGV needs to avoid a driving path for the target AGV, and the lower the obstacle avoidance priority is, the target AGV needs to avoid a driving path for the other AGV;

determining all tracks from the current position of the target AGV trolley to the target position of the target cargo space and the track length of each track, acquiring sensing data of a sensor preset on each track in all tracks, and determining the vacancy degree of each track in all tracks according to the sensing data;

under the current parameters of the target AGV trolley, calculating the running time spent by the target AGV trolley running along each track according to the track lengths of all the tracks and the vacancy degree of each track;

and determining the track with the shortest driving time length in all the tracks as the first target departure track.

The first obtainingunit 405 is further configured to obtain the waiting trajectory of all AGV carts to be started, and provide the waiting trajectory to the calculatingunit 407.

A calculatingunit 407, configured to calculate a track overlap ratio between the to-be-started track acquired by each first acquiringunit 405 and the first target starting track determined by the first determiningunit 406, respectively, and provide a calculation result to the first acquiringunit 405.

The first obtainingunit 405 is further configured to obtain a first priority of the target AGV and a second priority of the target AGV to be started with the highest track overlapping degree among all AGV to be started, and the first priority and the second priority are provided to the first determiningunit 403.

Thefirst judging unit 403 is further configured to judge whether the first priority is higher than the second priority, and provide the judgment result to the sendingunit 404.

The sendingunit 404 is further configured to send a delayed departure instruction to the target to-be-departed AGV when the first determiningunit 403 determines that the first priority is greater than the second priority, so that the target to-be-departed AGV starts after a preset time period, and send an execution instruction to the target AGV, so that the target AGV executes a task of taking and placing the material for the target cargo space.

Therefore, the wearable device described in fig. 5 can enable the AGV to know the cargo space condition when executing the task of picking and placing the material, so that the probability of occurrence of the incorrect operation event of the AGV is reduced; the current communication frequency band can be switched to the idle frequency band in time when the poor communication effect between the goods level management system and the target AGV trolley is detected, so that the communication smoothness degree between the goods level management system and the target AGV trolley is improved; the distance between the two AGV dollies can be determined according to the size of a light intensity image formed on the reflector by the laser, so that the problems that a target AGV dolly cannot effectively avoid and easily collides with other AGV dollies in the process of executing a material taking and placing task are effectively solved; in addition, the condition that the travel of AGV trolleys with similar starting tracks is blocked can be avoided.

EXAMPLE six

Referring to fig. 6, fig. 6 is a schematic structural diagram of another cargo space management system according to an embodiment of the present invention, wherein the cargo space management system shown in fig. 6 is obtained by further optimizing the cargo space management system shown in fig. 5. Compared with the cargo space management system shown in fig. 5, the cargo space management system shown in fig. 6 further includes:

the detectingunit 408 is configured to detect a real-time distance between the target AGV and the control area after the sendingunit 404 sends an execution instruction to the target AGV so that the target AGV executes a task of picking and placing the material for the target cargo space, and provide the real-time distance to the first determiningunit 403, where the control area is an area where the number of AGV passing through in unit time is greater than or equal to a preset passing number.

The first determiningunit 403 is further configured to determine whether an intersection exists within the real-time distance between the target AGV and the controlled area when the real-time distance is less than or equal to the preset safety distance, and provide the determination result to theroute planning unit 409.

And aroute planning unit 409, configured to perform route planning again on the target AGV according to the current position of the target AGV, the identifier of the intersection, and the target position of the target cargo space when the first determiningunit 403 determines that the intersection exists within the real-time distance range between the target AGV and the controlled area, so as to obtain a second target departure track, and provide the second target departure track to the sendingunit 404.

The sendingunit 404 is further configured to send the second target departure track to the target AGV, so that the target AGV starts according to the second target departure track.

As an alternative embodiment, as shown in fig. 6, the receivingunit 401 is further configured to receive the first slot information fed back by the target AGV, and provide the first slot information to the first determiningunit 403.

The first determiningunit 403 is further configured to determine whether the first location information matches the target location information of the target location, and provide the determination result to the second determiningunit 410, where the first location information is the location information that is closest to the target AGV and is obtained when the target AGV arrives at the track end of the second target departure track.

The cargo space management system further comprises:

a second determiningunit 410, configured to determine that the target AGV cart reaches the target position of the target slot when the first determiningunit 403 determines that the first slot information matches the target slot information.

As another alternative embodiment, as shown in fig. 6, the receivingunit 401 is further configured to receive a task completion instruction sent by the target AGV after the sendingunit 404 sends an execution instruction to the target AGV so that the target AGV executes a task of taking and placing a material for the target slot, where the task completion instruction is sent after the target AGV places the target material in the target slot or takes the target material from the target slot;

the cargo space management system further comprises:

thestatus modifying unit 411 is configured to modify a real-time status of the target cargo space according to the task completion instruction received by the receivingunit 401, and trigger the second obtainingunit 412 to start.

The second obtainingunit 412 is configured to obtain a first image and a second image of the target AGV for the target material, and provide the first image and the second image to the analyzingunit 413, wherein the first image is captured by the target AGV when the target AGV reaches an original position of the target material and before the target material is taken away, and the second image is captured by the target AGV after the target AGV reaches a destination position where the target material needs to be placed and the target material is placed at the destination position.

The analyzingunit 413 is configured to analyze the first image and the second image to obtain a difference value between the second image and the second image, and provide the difference value to the second determiningunit 414.

The second determiningunit 414 is configured to determine whether the difference value is smaller than a preset difference value.

Therecording unit 415 is configured to record the damage state of the target material and provide the damage state to the sendingunit 404 when the second determiningunit 414 determines that the difference value is greater than the preset difference value.

The sendingunit 404 is further configured to send a prompt message to a management terminal of a manager, where the prompt message is used to prompt that the target material is damaged.

Therefore, the wearable device described in fig. 6 can enable the AGV to know the cargo space condition when executing the task of picking and placing the material, so that the probability of occurrence of the incorrect operation event of the AGV is reduced; the smoothness degree of communication between the goods position management system and the target AGV trolley can be improved; the problems that the target AGV cannot effectively avoid and easily collides with other AGV in the process of executing the task of taking and placing the materials can be effectively solved; the situation that the AGV trolleys with similar starting tracks are blocked in traveling can be avoided; the real-time distance between the target AGV and the control area can be detected, and the target AGV can be orderly scheduled when the real-time distance is too short, so that the probability of collision or congestion is reduced; in addition, the AGV trolley can be effectively prevented from executing a task of taking and placing the damaged target material, and therefore the working efficiency of the target AGV trolley is improved.

The embodiment of the invention further provides another cargo space management system, as shown in fig. 7, for convenience of description, only the parts related to the embodiment of the invention are shown, and details of the specific technology are not disclosed, please refer to the method part of the embodiment of the invention. The cargo space management system can be applied to any terminal equipment such as a smart phone, a computer tablet, a management device and the like, and takes a terminal as the management device as an example:

fig. 7 is a block diagram illustrating a part of the structure of a management device associated with a terminal according to an embodiment of the present invention. Referring to fig. 7, the management apparatus includes: radio Frequency (RF)circuit 1110,memory 1120,input unit 1130,display unit 1140,sensor 1150,audio circuit 1160,wireless communication module 1170,processor 1180, power supply 1190, andcamera 1100. Those skilled in the art will appreciate that the management device configuration shown in fig. 7 does not constitute a limitation of the management device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

The following describes each component of the management apparatus in detail with reference to fig. 7:

RF circuit 1110 may be used for receiving and transmitting signals during a message transmission or call, and in particular, for receiving downlink messages from a base station and then processing the received downlink messages toprocessor 1180; in addition, the data for designing uplink is transmitted to the base station. In general,RF circuit 1110 includes, but is not limited to, an antenna, at least one Amplifier, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, theRF circuitry 1110 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (Code Division Multiple Access,

CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), and the like.

Thememory 1120 may be used to store executable program codes, and theprocessor 1180 coupled to thememory 1120 may execute various functional applications of the management device and data processing by executing the executable program codes stored in thememory 1120, and particularly, may be used to execute all or part of the steps of any one of the first to third embodiments of the drowning alarm method based on user behavior. Thememory 1120 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the management apparatus, and the like. Further, thememory 1120 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

Theinput unit 1130 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the management apparatus. Specifically, theinput unit 1130 may include atouch panel 1131 andother input devices 1132.Touch panel 1131, also referred to as a touch screen, can collect touch operations of a user on or near the touch panel 1131 (for example, operations of the user on or neartouch panel 1131 by using any suitable object or accessory such as a finger or a stylus pen), and drive corresponding connection devices according to a preset program. Alternatively, thetouch panel 1131 may include two parts, namely, a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to theprocessor 1180, and can receive and execute commands sent by theprocessor 1180. In addition, thetouch panel 1131 can be implemented by using various types, such as resistive, capacitive, infrared, and surface acoustic wave. Theinput unit 1130 may includeother input devices 1132 in addition to thetouch panel 1131. In particular,other input devices 1132 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

Thedisplay unit 1140 may be used to display information input by a user or information provided to the user and various menus for managing the device. Thedisplay unit 1140 may include adisplay panel 1141, and optionally, may

TheDisplay panel 1141 is configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, thetouch panel 1131 can cover thedisplay panel 1141, and when thetouch panel 1131 detects a touch operation on or near the touch panel, the touch panel is transmitted to theprocessor 1180 to determine the type of the touch event, and then theprocessor 1180 provides a corresponding visual output on thedisplay panel 1141 according to the type of the touch event. Although in fig. 7,touch panel 1131 anddisplay panel 1141 are shown as two separate components to implement the input and output functions of the management device, in some embodiments,touch panel 1131 anddisplay panel 1141 may be integrated to implement the input and output functions of the management device.

The management device may also include at least onesensor 1150, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of thedisplay panel 1141 according to the brightness of ambient light, and the proximity sensor may turn off thedisplay panel 1141 and/or the backlight when the mobile phone moves to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when stationary, and can be used for applications of recognizing the posture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile phone, further description is omitted here.

Audio circuitry 1160, speakers 1161, and microphone 1162 may provide an audio interface between the user and the administrative device. Theaudio circuit 1160 may transmit the electrical signal converted from the received audio data to the speaker 1161, and convert the electrical signal into a sound signal for output by the speaker 1161; on the other hand, the microphone 1162 converts the collected sound signals into electrical signals, converts the electrical signals into audio data after being received by theaudio circuit 1160, and then processes the audiodata output processor 1180, and then sends the audio data to another management device through theRF circuit 1110, for example, or outputs the audio data to thememory 1120 for further processing.

Thewireless communication module 1170 may be configured to transmit information to an external device, receive a control instruction of the external device, and the like, and in particular, transmit the control instruction to theprocessor 1180 after receiving the control instruction of the external device, and process the control instruction by theprocessor 1180. Thewireless communication module 1170 may include, for example, a wireless fidelity (WiFi) module. The management equipment can be used for sending information, helping a user to receive and send emails, browsing webpages, accessing streaming media, receiving control instructions of external equipment and the like through the WiFi module, and provides wireless broadband Internet access for the user.

Theprocessor 1180 is a control center of the management device, connects various parts of the whole mobile phone by using various interfaces and lines, and performs various functions of the management device and processes data by running or executing software programs and/or modules stored in thememory 1120 and calling data stored in thememory 1120, thereby performing overall monitoring of the management device. Optionally,processor 1180 may include one or more processing units; preferably, theprocessor 1180 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated withinprocessor 1180.

The management device also includes a power supply 1190 (e.g., a battery) for providing power to various components, which may be logically coupled to theprocessor 1180 via a power management system, such that the power management system may be configured to manage charging, discharging, and power consumption.

Although not shown, the management device may further include a bluetooth module or the like, which is not described in detail herein.

In the embodiment of the present invention, theprocessor 1180 included in the management device is configured to execute the executable program code stored in thememory 1120, and further has the following functions:

the controlwireless communication module 1170 receives a state query instruction of a target AGV car for a target cargo space;

according to the state query instruction, the current state of the target goods position is queried from a stored goods position state database, and whether the target goods position meets the pick-and-place condition or not is judged according to the current state;

and if the target cargo space meets the pick-and-place condition, controlling thewireless communication module 1170 to send an execution instruction to the target AGV so that the target AGV executes a task of picking and placing the materials aiming at the target cargo space.

Therefore, theprocessor 1180 included in the management device can enable the AGV to know the goods position condition when executing the task of taking and placing the materials, so that the probability of the occurrence of misoperation events of the AGV is reduced.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

The above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.