CN112002146B - Networking method and device for unmanned transportation equipment, computer equipment and storage medium - Google Patents
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Abstract
The application relates to a networking method and device for unmanned transportation equipment, computer equipment and a storage medium. The method comprises the following steps: acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment; establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the preset position information range; sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment; and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit. By the method, information sharing efficiency among unmanned transportation equipment can be improved.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a method and an apparatus for networking an unmanned transport device, a computer device, and a storage medium.
Background
Along with the development of internet of things, carry out commodity circulation transportation through unmanned transportation equipment such as unmanned aerial vehicle, unmanned car, receive each big commodity circulation company's favor more and more. Like present unmanned aerial vehicle express delivery, through utilizing the unmanned low latitude aircraft delivery parcel of radio remote control equipment and the program control device manipulation of self-contained promptly, the destination is arrived in the automation, and its advantage mainly lies in solving the delivery problem in remote area, improves delivery efficiency, reduces the human cost simultaneously.
However, unmanned transportation equipment such as existing unmanned aerial vehicles and unmanned vehicles are scheduled and controlled through a unified center in the transportation process, so that the information sharing speed between the unmanned transportation equipment is low.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, a computer device, and a storage medium for networking unmanned transportation devices, which can provide information sharing efficiency between the unmanned transportation devices.
An unmanned transport device networking method, the method comprising:
acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment;
establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the preset position information range;
sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
In one embodiment, the networking request includes an identification of the first unmanned transport device; the establishing a first information exchange unit for the first unmanned transportation device according to the networking request comprises: creating a first information exchange unit according to the identification of the first unmanned transportation equipment; wherein, each object added in the first information exchange unit sends control instruction or notification message to other objects in the first information exchange unit in a broadcasting mode.
In one embodiment, the networking method for the unmanned transport equipment further includes: receiving a network access request of a third unmanned transportation device, a user terminal or a second information exchange unit; and adding the third unmanned transportation equipment, the user terminal or the second information exchange unit into the first information exchange unit according to the network access request.
In one embodiment, after adding the second information exchange unit to the first information exchange unit according to the network access request, the method includes: establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the messages in the first information exchange unit to each object in the second information exchange unit.
In one embodiment, after receiving networking approval information sent by the unmanned station and the second unmanned transport device and joining the unmanned station and the second unmanned transport device to the first information exchange unit, the method includes: and setting message sending permission for the first unmanned transportation equipment, the unmanned station and the second unmanned transportation equipment in the first information exchange unit.
A method of unmanned transport device networking, the method comprising:
the first unmanned transportation equipment detects whether collision risk exists between the first unmanned transportation equipment and the obstacle through a collision detection algorithm;
if the collision risk exists, sending a networking request to the cloud system; the networking request includes location information where the first unmanned transport device is currently located.
In one embodiment, the networking method for the unmanned transport equipment further includes: when the battery power of the first unmanned transportation device is low, sending a networking request to a server; the networking request includes location information where the first unmanned transport device is currently located.
An unmanned transport equipment networking apparatus, the apparatus comprising:
the networking request acquisition module is used for acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment;
the information exchange unit establishing module is used for establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the position information preset range;
the networking invitation sending module is used for sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
and the member adding module is used for receiving networking consent information sent by the unmanned station and the second unmanned transport equipment and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
A computer device comprising a memory storing a computer program and a processor implementing the following steps when the computer program is executed:
acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment;
establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the preset position information range;
sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment;
according to the networking request, a first information exchange unit is established for the first unmanned transport equipment, and an unmanned station address and an identification of second unmanned transport equipment in the position information preset range are searched;
sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
According to the networking method and device for the unmanned transport equipment, the computer equipment and the storage medium, the first information exchange unit is established through the networking request of the first unmanned transport equipment, the unmanned station near the first unmanned transport equipment and the second unmanned transport equipment are added into the first information exchange unit, a local communication network can be established quickly, and local message sharing is achieved.
Drawings
FIG. 1 is a diagram of an exemplary networking method for unmanned transport devices;
FIG. 2 is a schematic flow chart illustrating a method for networking an unmanned transport device in one embodiment;
FIG. 3 is a block diagram of an embodiment of an unmanned transport equipment networking device;
FIG. 4 is a block diagram of an embodiment of an unmanned transport device networking apparatus;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The networking method of the unmanned transportation equipment can be applied to the application environment shown in the figure 1. Wherein unmanned transport equipment such as unmanned aerial vehicle, unmanned vehicle and unmanned station communicate with high in the clouds system through mobile network. The method comprises the steps that a cloud system obtains a networking request of first unmanned transportation equipment, wherein the networking request comprises current position information of the first unmanned transportation equipment; establishing a first information exchange unit for the first unmanned transport equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transport equipment within the preset position information range; sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment; and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit. The unmanned transportation equipment can be but not limited to various unmanned aerial vehicles, unmanned vehicles and artificial intelligent robots, and the cloud system can be realized by independent servers or a server cluster consisting of a plurality of servers.
In one embodiment, as shown in fig. 2, a method for networking an unmanned transportation device is provided, which is described by taking the method as an example for being applied to the cloud system in fig. 1, and includes the following steps:
s110, a networking request of the first unmanned transportation equipment is obtained, and the networking request comprises the current position information of the first unmanned transportation equipment.
Wherein, unmanned transportation equipment includes unmanned aerial vehicle, unmanned car and artificial intelligence robot, and unmanned transportation equipment is used for carrying out the commodity circulation transportation. The networking request is used for searching other unmanned transportation equipment and unmanned stations nearby the first unmanned transportation equipment for networking so as to share control instructions and notification messages. The first unmanned transportation device obtains the current position information through a positioning system. The unmanned transport equipment can communicate with surrounding mobile communication equipment at any time, for example, the unmanned transport equipment communicates with a 5G base station through a 5G signal, the 5G base station sends information to a cloud system, the unmanned transport equipment is accessed to the cloud system through a 5G network by adopting an mqtt interaction protocol, meanwhile, a full duplex channel for sending and receiving messages is kept, the information interacted between the unmanned transport equipment and the cloud system is coded by protobuf and then transmitted by an mqtt transmission protocol, the size of the information can be greatly reduced after the protobuf is coded, the bandwidth occupation is reduced, and the mqtt transmission protocol can ensure the reliable transmission of the messages.
And S120, establishing a first information exchange unit for the first unmanned transport equipment according to the networking request, and searching the unmanned station address in the position information preset range and the identification of the second unmanned transport equipment.
The unmanned transport equipment connected with the cloud system sends position information to the cloud system in real time, and the cloud system is kept controlling the unmanned transport equipment. The information exchange unit is a session area for realizing information sharing of internal objects, and is equivalent to a virtual chat room, such as LN-1 and LN-2 shown in fig. 1, then adds a device needing information interaction into the chat room, and when the device in the chat room sends a message, the device informs other devices in the chat room in a broadcasting manner. The preset range may be set as needed, for example, the first unmanned transportation device needs to communicate with a device within one kilometer, and the preset range is within one kilometer of the location information. Unmanned station contains unmanned aerial vehicle, unmanned vehicle or artificial intelligence robot the interface that charges, possesses unmanned aerial vehicle platform, unmanned vehicle garage of taking off and land, sets up goods storage area and supports the goods transfer and keep in, sets up control computer and supports human-computer interaction control.
S130, sending networking invitation information to the unmanned station and the second unmanned transport equipment according to the unmanned station address and the identification of the second unmanned transport equipment.
The cloud system searches for equipment near the position information of the first unmanned transportation equipment for networking after receiving a networking request of the first unmanned transportation equipment, stores addresses of all the equipment, and sends networking invitation information to the equipment according to the addresses of the nearby equipment.
S140, receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
The networking agreement information comprises the identification of the unmanned station and the identification of the second unmanned transport equipment, the cloud system adds the unmanned station and the second unmanned transport equipment into the first information exchange unit according to the identification of the unmanned station and the second unmanned transport equipment, and the first unmanned transport equipment, the unmanned station and the second unmanned transport equipment can freely analyze messages and send control instructions in the first information exchange unit. For example, the first unmanned transportation device and the second unmanned transportation device report respective current positions at the first information exchange unit, collision is avoided, the first unmanned transportation device shares the information of the transported goods under the condition of no electricity, and the second unmanned transportation device can realize connection transportation according to the information of the transported goods.
In the networking method of the unmanned transport equipment, the first information exchange unit is established through the networking request of the first unmanned transport equipment, and the unmanned station near the first unmanned transport equipment and the second unmanned transport equipment are added into the first information exchange unit, so that a local communication network can be established quickly, and the sharing of local information is realized.
In one embodiment, the networking request includes an identification of the first unmanned transport device. The establishing a first information exchange unit for the first unmanned transportation device according to the networking request comprises: creating a first information exchange unit according to the identification of the first unmanned transportation equipment; wherein, each object added in the first information exchange unit sends control instruction or notification message to other objects in the first information exchange unit in a broadcasting mode.
The identification of the first unmanned transport equipment is the unique identification of the first unmanned transport equipment, the first unmanned transport equipment sends a networking request once, a first information exchange unit can be established, when the position information of the first unmanned transport equipment changes, the first unmanned transport equipment walks or flies to another area, the networking request can be sent again, and another information exchange unit is established again. The object in the first information exchange unit comprises unmanned transportation equipment, an unmanned station, a second information exchange unit or a user terminal. The user terminal may send control commands in the first new switching unit to control other objects of the first information switching unit.
In one embodiment, the networking method for the unmanned transport equipment further includes: receiving a network access request of a third unmanned transportation device, a user terminal or a second information exchange unit; and adding the third unmanned transportation equipment, the user terminal or the second information exchange unit into the first information exchange unit according to the network access request. Wherein the network access request comprises an address of the third unmanned transport device, an identification of the user terminal, or an address of the second information exchange unit. The third unmanned transportation equipment, the user terminal or the second information exchange unit are in real-time communication with the cloud system, and the third unmanned transportation equipment, the user terminal or the second information exchange unit sends position information to the cloud system in real time. In this embodiment, through a network access request of the third unmanned transportation device, the user terminal, or the second information exchange unit, the third unmanned transportation device, the user terminal, or the second information exchange unit can actively apply for joining the first information exchange unit, thereby implementing information sharing of multiple devices of the first information exchange unit.
In one embodiment, after adding the second information exchange unit to the first information exchange unit according to the network access request, the method includes: establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the messages in the first information exchange unit to each object in the second information exchange unit. Wherein the message routing table contains addresses of the respective objects in the second information exchange unit. For example, the objects in the first information exchange unit include unmanned aerial vehicle a1, unmanned station M1, unmanned vehicle C1, and the second information exchange unit, and the objects in the second information exchange unit include unmanned aerial vehicle a2 and unmanned station M2, and unmanned aerial vehicle a1 sends a message "cargo L will be transported to address V" in the first information exchange unit 2, and the message "cargo L will be transported to address V" is sent to unmanned aerial vehicle a2 and unmanned station M2 through an information routing table between the first information exchange unit and the second information exchange unit. In this embodiment, the information exchange unit and the information exchange unit can be implemented by using the message routing table.
In one embodiment, after receiving networking approval information sent by the unmanned station and the second unmanned transport device and joining the unmanned station and the second unmanned transport device to the first information exchange unit, the method includes: and setting message sending permission for the first unmanned transportation equipment, the unmanned station and the second unmanned transportation equipment in the first information exchange unit.
The message sending authority can limit the message sending authority of each object in the information exchange unit, for example, the first unmanned transportation device can send a control instruction and a notification message, the unmanned station can send the control instruction, and the second unmanned transportation device can send the notification message.
In one embodiment, as shown in fig. 3, there is provided an unmanned transportation device networking method, including: s210, detecting whether the first unmanned transportation equipment has collision risk with an obstacle through a collision detection algorithm; s220, if the collision risk exists, sending a networking request to a cloud system; the networking request includes location information of the first unmanned transport device at the present location.
The collision detection algorithm is used for detecting whether the first unmanned transportation device and the obstacle have a collision risk, and specifically, the first unmanned transportation device and the obstacle are regularized by using an AABB (Axis-aligned bounding boxes), the boundary of the object is dynamically expanded according to the moving direction and speed of the first unmanned transportation device, and then the sat (separating Axis Theorem) algorithm is used for collision detection to give a collision warning. The networking request is used for searching other unmanned transportation equipment and unmanned stations near the first unmanned transportation equipment for networking so as to share control instructions and notification messages, for example, the first unmanned transportation equipment is convenient to send position information of obstacles to the other unmanned transportation equipment.
In one embodiment, the method for networking the unmanned transportation device further comprises: when the battery power of the first unmanned transport device is low, sending a networking request to a server; the networking request includes location information where the first unmanned transport device is currently located. In this implementation, first unmanned transportation equipment carries out the network deployment when battery power is low, and the first unmanned transportation equipment of being convenient for sends cargo information for other unmanned transportation equipment, transports the goods through other unmanned transportation equipment.
It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or phases, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or phases.
In one embodiment, as shown in fig. 4, there is provided an unmanned transportation device networking apparatus including: a networking request obtaining module 310, an information exchange unit establishing module 320, a networking invitation sending module 330 and a member adding module 340, wherein:
a networking request obtaining module 310, configured to obtain a networking request of a first unmanned transport device, where the networking request includes location information of a current location of the first unmanned transport device.
An information exchange unit establishing module 320, configured to establish a first information exchange unit for the first unmanned transportation device according to the networking request, and search for an unmanned station address within the preset position information range and an identifier of the second unmanned transportation device.
And a networking invitation sending module 330, configured to send networking invitation information to the unmanned station and the second unmanned transport device according to the address of the unmanned station and the identifier of the second unmanned transport device.
And a member adding module 340, configured to receive networking agreement information sent by the unmanned station and the second unmanned transport device, and add the unmanned station and the second unmanned transport device to the first information exchange unit.
In one embodiment, the networking request includes an identification of the first unmanned transport device. The information exchange unit establishing module is also used for establishing a first information exchange unit according to the identification of the first unmanned transportation equipment; wherein, each object added in the first information exchange unit sends control instruction or notification message to other objects in the first information exchange unit in a broadcast mode.
In one embodiment, the networking device for unmanned transportation equipment further includes: the network access request receiving module is used for receiving a network access request of a third unmanned transportation device, a user terminal or a second information exchange unit; the member adding module is further configured to add the third unmanned transport device, the user terminal, or the second information exchange unit to the first information exchange unit according to the network access request.
In one embodiment, the networking device for unmanned transportation equipment further includes: the message routing table establishing module is used for establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the message in the first information exchange unit to each object in the second information exchange unit.
In one embodiment, the networking device for unmanned transportation equipment further includes: and the message sending authority setting module is used for setting message sending authorities for the first unmanned transportation equipment, the unmanned station and the second unmanned transportation equipment in the first information exchange unit.
In one embodiment, there is provided an unmanned transport device networking apparatus comprising: the collision detection module is used for detecting whether the first unmanned transportation equipment has collision risk with the obstacle through a collision detection algorithm; the networking request sending module is used for sending a networking request to the cloud system if the collision risk exists; the networking request includes location information of the first unmanned transport device at the present location.
In one embodiment, the networking request sending module is further configured to send a networking request to the server when the battery power of the first unmanned transportation device is low; the networking request includes location information where the first unmanned transport device is currently located.
For specific limitations of the networking apparatus for the unmanned transportation device, reference may be made to the above limitations of the networking method for the unmanned transportation device, and details are not described herein again. The modules in the unmanned transportation equipment networking device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the device information data in the information exchange unit. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of unmanned transport device networking.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment;
according to the networking request, a first information exchange unit is established for the first unmanned transport equipment, and an unmanned station address and an identification of second unmanned transport equipment in the position information preset range are searched;
sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving a network access request of a third unmanned transportation device, a user terminal or a second information exchange unit; and adding the third unmanned transportation equipment, the user terminal or the second information exchange unit into the first information exchange unit according to the network access request.
In one embodiment, the processor, when executing the computer program, further performs the steps of: establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the message in the first information exchange unit to each object in the second information exchange unit.
In one embodiment, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment;
establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the preset position information range;
sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
and receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit.
In one embodiment, the computer program when executed by the processor further performs the steps of: receiving a network access request of a third unmanned transportation device, a user terminal or a second information exchange unit; and adding the third unmanned transportation equipment, the user terminal or the second information exchange unit into the first information exchange unit according to the network access request.
In one embodiment, the computer program when executed by the processor further performs the steps of: establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the message in the first information exchange unit to each object in the second information exchange unit.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (6)
1. An unmanned transportation device networking method, the method comprising:
acquiring a networking request of first unmanned transportation equipment, wherein the networking request comprises the current position information of the first unmanned transportation equipment; the first unmanned transportation equipment detects whether a collision risk exists with an obstacle through a collision detection algorithm; if the collision risk exists, sending a networking request to the cloud system; the method for detecting whether the first unmanned transportation equipment has collision risk with the obstacle through the collision detection algorithm specifically comprises the following steps: firstly, using AABB (Axis-aligned bounding boxes) to regularize first unmanned transportation equipment and obstacles, dynamically expanding object boundaries according to the moving direction and speed of the first unmanned transportation equipment, and then using SAT (separating Axis Theorem) algorithm to perform collision detection to give collision early warning; the networking request is used for searching other unmanned transportation equipment and unmanned stations near the first unmanned transportation equipment for networking, so that the first unmanned transportation equipment can conveniently send the position information of the obstacle to the other unmanned transportation equipment;
establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the preset position information range;
sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
receiving networking consent information sent by the unmanned station and the second unmanned transport equipment, and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit; the first unmanned transportation equipment shares the information of the transported goods through the first information exchange unit under the condition of no electricity;
receiving a network access request of a second information exchange unit;
adding a second information exchange unit into the first information exchange unit according to the network access request; the second information exchange unit is in real-time communication with the cloud system and sends position information to the cloud system in real time;
establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the messages in the first information exchange unit to each object in the second information exchange unit.
2. The method of claim 1, wherein the networking request includes an identification of the first unmanned transport device;
the establishing of the first information exchange unit for the first unmanned transportation equipment according to the networking request comprises the following steps:
creating a first information exchange unit according to the identification of the first unmanned transportation equipment; wherein, each object added in the first information exchange unit sends control instruction or notification message to other objects in the first information exchange unit in a broadcasting mode.
3. The method of claim 1, wherein after receiving networking consent information sent by the unmanned station and the second unmanned transport device and joining the unmanned station and the second unmanned transport device to the first information exchange unit, the method comprises:
and setting message sending permission for the first unmanned transportation equipment, the unmanned station and the second unmanned transportation equipment in the first information exchange unit.
4. An unmanned transportation device networking apparatus, the apparatus comprising:
the networking request acquisition module is used for acquiring a networking request of first unmanned transportation equipment, and the networking request comprises the current position information of the first unmanned transportation equipment; the first unmanned transportation equipment detects whether a collision risk exists with an obstacle through a collision detection algorithm; if the collision risk exists, sending a networking request to the cloud system; the method for detecting whether the first unmanned transportation equipment has collision risk with the obstacle through a collision detection algorithm specifically comprises the following steps: firstly, using AABB (axial-aligned bounding boxes) to regularize first unmanned transport equipment and obstacles, dynamically expanding object boundaries according to the moving direction and speed of the first unmanned transport equipment, and then using an SAT (separating Axis theory) algorithm to perform collision detection to give collision early warning; the networking request is used for searching other unmanned transportation equipment and unmanned stations near the first unmanned transportation equipment for networking, so that the first unmanned transportation equipment can conveniently send the position information of the obstacle to the other unmanned transportation equipment;
the information exchange unit establishing module is used for establishing a first information exchange unit for the first unmanned transportation equipment according to the networking request, and searching the unmanned station address and the identification of the second unmanned transportation equipment within the position information preset range;
the networking invitation sending module is used for sending networking invitation information to the unmanned station and the second unmanned transportation equipment according to the unmanned station address and the identification of the second unmanned transportation equipment;
the member adding module is used for receiving networking consent information sent by the unmanned station and the second unmanned transport equipment and adding the unmanned station and the second unmanned transport equipment into the first information exchange unit; the first unmanned transportation equipment shares the information of the transported goods through the first information exchange unit under the condition of no electricity;
a network access request receiving module, configured to receive a network access request of the second information exchange unit;
the member adding module is further configured to add a second information exchange unit to the first information exchange unit according to the network access request; the second information exchange unit is in real-time communication with the cloud system and sends position information to the cloud system in real time;
the message routing table establishing module is used for establishing a message routing table according to the address of the first information exchange unit and the address of the second information exchange unit; the message routing table is used for forwarding the messages in the first information exchange unit to each object in the second information exchange unit.
5. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 3 when executing the computer program.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 3.
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