CN110119861A - Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle - Google Patents
Dispatch the method, apparatus and computer readable storage medium of unmanned vehicle Download PDFInfo
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Abstract
Present disclose provides a kind of method, apparatus and computer readable storage medium for dispatching unmanned vehicle, are related to robotic technology field.Method therein includes: that more unmanned vehicles of scheduling execute transport task parallel, and the unmanned vehicle for going to identical destination is grouped；The unmanned vehicle that node is determined for first arriving at the destination more vehicle sequences in grouping, determines its transport task coordinate according to destination cargo display case, and dispatches it and go to task coordinate execution transport task, and the more vehicles sequences in destination determine that node is located at destination front end；More vehicle sequences are arrived at the destination after in scheduling grouping determines that the unmanned vehicle of point determines that point waits in the more vehicle sequences in destination, it is first arrived at the destination after more vehicles sequence determines that the unmanned vehicle of nodes leaves destination in a packet, arrives at the destination more vehicles sequences after next in scheduling grouping and determine that the unmanned vehicle of point continues to execute transport task.The disclosure can be improved the dispatching efficiency that unmanned vehicle executes transport task.
Description
Technical field
This disclosure relates to robotic technology field, in particular to a kind of method, apparatus for dispatching unmanned vehicle and computer can
Read storage medium.
Background technique
Unmanned vehicle in electric business warehouse is mainly used for the cargo movement in library, and the Primary containers of cargo are pallet or cage
Vehicle.Picking position, goods putting position, charge position are generally included in layout and are parked a little.It is a fortune that from picking position, picking, which is transported to goods putting position,
Defeated task.Transport task priority to when prewave time row's vehicle information, picking position whether be connected with up-stream system etc. it is related.Parking position
It is parked for the unmanned vehicle currently without transport task, charge position charges for low battery unmanned vehicle.
Fig. 1 shows the electric business warehouse layout schematic diagram in the relevant technologies, specifically includes picking area, goods putting area, cargo
Working area, empty container working area.Wherein, the place of unmanned vehicle system access up-stream system is located at picking area, and up-stream system can be with
For sorter or manipulator etc., loaded for container.Picking area includes the fixation picking place of unmanned vehicle, i.e. picking position.From upper
The pallet or cage vehicle that trip system is got, can be temporarily stored in working area, wait downstream lorry it is in place after, be uniformly transported to goods putting area.
The empty cage vehicle or empty pallet returned from goods putting area, is transported by unmanned vehicle to empty container working area.
Summary of the invention
The technical problem that the disclosure solves is the dispatching efficiency for how improving unmanned vehicle and executing transport task.
According to the one aspect of the embodiment of the present disclosure, a kind of method for dispatching unmanned vehicle is provided, comprising: more nothings of scheduling
People's vehicle executes transport task parallel, and the unmanned vehicle for going to identical destination is grouped；For first reaching purpose in grouping
The more vehicle sequences in ground determine the unmanned vehicle of node, determine its transport task coordinate according to destination cargo display case, and dispatch it
It goes to task coordinate and executes transport task, the more vehicle sequences in destination determine that node is located at destination front end；It is arrived after in scheduling grouping
It determines that the unmanned vehicle of point determines that point waits in the more vehicle sequences in destination up to the more vehicle sequences in destination, first arrives at the destination in a packet
After more vehicle sequences determine that the unmanned vehicle of node leaves destination, more vehicle sequences are arrived at the destination after next in scheduling grouping and are determined
The unmanned vehicle of fixed point continues to execute transport task.
In some embodiments, the more vehicle sequences in destination determine that node is located at first turning point of destination front end.
In some embodiments, determine that its transport task coordinate includes: by picking position according to destination cargo display case
Coordinate where outermost cargo is determined as picking task coordinate；By the outside adjacent coordinates of coordinate where the outermost cargo of goods putting position
It is determined as goods putting task coordinate.
In some embodiments, dispatching more unmanned vehicles and executing transport task parallel includes: by shortest path first, meter
Calculate the path of each picking destination to corresponding goods putting destination；It dispatches each unmanned vehicle and executes goods putting along respective parallel path
Task.
In some embodiments, it includes: current according to more unmanned vehicles for dispatching more unmanned vehicles to execute transport task parallel
The position of position and picking destination calculates the unmanned vehicle-picking destination matching pair for making total time cost minimization, and
Calculate the path of each unmanned vehicle to corresponding picking destination；It dispatches each unmanned vehicle and executes picking times along respective parallel path
Business.
In some embodiments, calculating makes the unmanned vehicle of total time cost minimization-picking destination matching to including: to calculate
So that the smallest c of following objective functionij: min ∑i∈I∑j∈Jcijxij, wherein i indicates that unmanned vehicle, j indicate picking destination,
xIJ∈ { 0,1 }, xIJ=1 expression unmanned vehicle i goes to picking destination j, xij=0 expression unmanned vehicle i does not go to picking destination j,
cijIndicate the current location of unmanned vehicle i to the time cost of picking destination j；Constraint condition an are as follows: unmanned vehicle is at most gone to
One picking destination；The receptible unmanned vehicle quantity in one picking destination waits for picking quantity no more than the picking destination；
Smallest match is more than or equal to the smaller value of unmanned vehicle with the picking number for having transport task to quantity.
In some embodiments, it dispatches more unmanned vehicles to execute transport task parallel and include further include: be in unmanned vehicle
Main road parks in task and encounters front truck in the case where hanging up, and unmanned vehicle addition can be used unmanned vehicle set；In unmanned vehicle
It parks in task in branch road and when the unmanned vehicle current location is less than preset value at a distance from the parking position of branch road, by the unmanned vehicle
It is deleted from available unmanned vehicle set.
According to the other side of the embodiment of the present disclosure, a kind of device for dispatching unmanned vehicle is provided, comprising: grouping mould
Block, is configured as dispatching more unmanned vehicles and executes transport task parallel, and the unmanned vehicle for going to identical destination is grouped；
Coordinate determining module is configured as determining the unmanned vehicle of node for first arriving at the destination more vehicle sequences in grouping, according to purpose
Ground cargo display case determines its transport task coordinate, and dispatches it and go to task coordinate execution transport task, the more vehicles in destination
Sequence determines that node is located at destination front end；Scheduler module is configured as arriving at the destination more vehicles sequence after in scheduling grouping and determine
The unmanned vehicle of fixed point determines that point waits in the more vehicle sequences in destination, first arrives at the destination more vehicle sequences in a packet and determines node
After unmanned vehicle leaves destination, more vehicle sequences are arrived at the destination after next in scheduling grouping and determine that the unmanned vehicle of point continues to hold
Row transport task.
In some embodiments, the more vehicle sequences in destination determine that node is located at first turning point of destination front end.
In some embodiments, coordinate determining module is configured as: coordinate where the outermost cargo of picking position is determined as
Picking task coordinate；The outside adjacent coordinates of coordinate where the outermost cargo of goods putting position are determined as goods putting task coordinate.
In some embodiments, grouping module is configured as: by shortest path first, calculating each picking destination extremely
The path of corresponding goods putting destination；It dispatches each unmanned vehicle and executes goods putting task along respective parallel path.
In some embodiments, grouping module is configured as: according to more unmanned vehicle present positions and picking mesh
Ground position, calculating makes the unmanned vehicle of total time cost minimization-picking destination matching pair, and calculates each unmanned vehicle to phase
Answer the path of picking destination；It dispatches each unmanned vehicle and executes picking task along respective parallel path.
In some embodiments, grouping module is configured as: being calculated so that the smallest c of following objective functionij: min ∑i∈I
∑j∈Jcijxij, wherein i indicates that unmanned vehicle, j indicate picking destination, xij∈ { 0,1 }, xij=1 expression unmanned vehicle i, which is gone to, to be taken
Goods destination j, xij=0 expression unmanned vehicle i does not go to picking destination j, cijIndicate the current location of unmanned vehicle i to picking mesh
Ground j time cost；Constraint condition an are as follows: unmanned vehicle at most goes to a picking destination；One picking destination energy
The unmanned vehicle quantity of receiving waits for picking quantity no more than the picking destination；Smallest match is more than or equal to unmanned vehicle and has to quantity
The smaller value of the picking number of transport task.
In some embodiments, grouping module, which is also configured to be in main road in unmanned vehicle, parks in task and before encountering
Vehicle and in the case where hanging up, unmanned vehicle addition can be used into unmanned vehicle set；Branch road is in unmanned vehicle to park in task and should
When unmanned vehicle current location is less than preset value at a distance from the parking position of branch road, which is deleted from available unmanned vehicle set
It removes.
According to the another aspect of the embodiment of the present disclosure, a kind of device for dispatching unmanned vehicle is provided, wherein include: to deposit
Reservoir；And it is coupled to the processor of memory, processor is configured as executing aforementioned based on instruction stored in memory
Scheduling unmanned vehicle method.
According to another aspect of the embodiment of the present disclosure, a kind of computer readable storage medium is provided, wherein computer
Readable storage medium storing program for executing is stored with computer instruction, scheduling unmanned vehicle above-mentioned is realized in instruction method when being executed by processor.
The disclosure improves the dispatching efficiency that unmanned vehicle executes transport task.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present disclosure or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Disclosed some embodiments without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the electric business warehouse layout schematic diagram in the relevant technologies
Fig. 2 shows the flow diagrams of the method for the scheduling unmanned vehicle of an embodiment of the present disclosure.
Fig. 3 shows destination picking position, goods putting position schematic diagram.
Fig. 4 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of an embodiment of the present disclosure.
Fig. 5 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of the disclosure another embodiment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, belong to the disclosure protection range.
The method of the scheduling unmanned vehicle of an embodiment of the present disclosure is introduced below with reference to Fig. 2.
Fig. 2 shows the flow diagrams of the method for the scheduling unmanned vehicle of an embodiment of the present disclosure.As shown in Fig. 2, this
The method of scheduling unmanned vehicle in embodiment includes step S202~step S204.
In step S202, more unmanned vehicles of scheduling execute transport task parallel, and by go to identical destination nobody
Vehicle is grouped.
Dispatching more unmanned vehicles and executing transport task parallel for example and can be divided into selection can be taken with unmanned vehicle, scheduling unmanned vehicle
Goods, scheduling unmanned vehicle delivery match three phases.
When selection can use unmanned vehicle, in the case where unmanned vehicle is in main road and parks in task and encounter front truck and hang up,
The unmanned vehicle can be added can use unmanned vehicle set；Branch road is in unmanned vehicle to park in task and the unmanned vehicle current location
With when being less than preset value at a distance from the parking position of branch road, which can be deleted from available unmanned vehicle set.
Dispatch unmanned vehicle picking when, can according to more unmanned vehicle present positions and the position of picking destination,
Unmanned vehicle-picking destination the matching pair for making total time cost minimization is calculated, and calculates each unmanned vehicle to corresponding picking purpose
Then the path on ground dispatches each unmanned vehicle along respective parallel path and executes picking task.
When dispatching unmanned vehicle delivery, by shortest path first, each picking destination is calculated to corresponding goods putting destination
Path, then dispatch each unmanned vehicle along respective parallel path execute goods putting task.
In step S204, the unmanned vehicle of node is determined for first arriving at the destination more vehicle sequences in grouping, according to purpose
Ground cargo display case determines its transport task coordinate, and dispatches it and go to task coordinate execution transport task.
Wherein, the more vehicles in destination sequence determines that nodes are located at destination front end, such as can be positioned at the of destination front end
One turning point.It, can be by picking position outermost cargo when determining its transport task coordinate according to destination cargo display case
Place coordinate is determined as picking task coordinate, or the outside adjacent coordinates of coordinate where the outermost cargo of goods putting position are determined as
Goods putting task coordinate.
In step S206, more vehicles sequences are arrived at the destination after dispatching in grouping and determine the unmanned vehicle of point in the more vehicles in destination
Sequence determines that point waits.It first arrives at the destination after more vehicles sequence determines that the unmanned vehicle of nodes leaves destination, adjusts in a packet
More vehicle sequences are arrived at the destination in degree grouping after next and determine that the unmanned vehicle of point continues to execute transport task.
It will be understood by those skilled in the art that process described in step S206 can be understood as cyclic process.Such as
After one unmanned vehicle determines point by the more vehicle sequences in destination, second unmanned vehicle and third unmanned vehicle rest on purpose
The more vehicle sequences in ground determine that point waits.After first unmanned vehicle leaves destination, second unmanned vehicle passes through the more vehicles in destination
Sequence determines point execution task, and third unmanned vehicle remains in the more vehicle sequences in destination and determines that point waits, and so on.
Above mentioned embodiment provide the dispatching method that more depth pickings position, goods putting position issue multiple transport tasks simultaneously, energy
It is enough that unmanned vehicle in warehouse is scheduled in real time, it, can to more in warehouse after the accurate available unmanned vehicle determined in warehouse
Parallel Scheduling is carried out with unmanned vehicle, relative to the existing serial scheduling side for just issuing rear car task after front truck picking
Method can effectively reduce the standby time of unmanned vehicle, improve the dispatching efficiency that unmanned vehicle executes transport task.
Importantly, more vehicle sequences, which are arranged, in picking position, goods putting position front end in above-described embodiment determines point, it can be according to nothing
The sequence arrangement unmanned vehicle that people's vehicle is actually reached destination successively goes to corresponding coordinate and executes task, avoid scheduling failure or
There is the case where scheduling error.It is first reached for example, going out than No. two unmanned vehicles of No.1 unmanned vehicle according to route calculation in the related technology
Goods putting destination should be No.1 unmanned vehicle setting goods putting destination by inboard goods putting coordinate according to convention, be No. two nobody
Vehicle sets the goods putting coordinate of goods putting destination in the outer part.However, No.1 unmanned vehicle, which may be because, to be kept away executing in goods putting task
The extraneous factors such as barrier are later than No. two unmanned vehicles and reach goods putting destination, and cargo is placed on goods putting mesh by No. two unmanned vehicles at this time
Ground goods putting coordinate in the outer part, cause No.1 unmanned vehicle that cargo can not be placed on to goods putting destination and sat by inboard goods putting
Mark, at this time scheduling failure, system errors.And the embodiment that the disclosure provides can effectively avoid the generation of similar situation,
Therefore the dispatching efficiency that unmanned vehicle executes transport task can be further increased.
An application examples of the method for disclosure scheduling unmanned vehicle is described below.
(1) picking is dispatched.
Because system resource (can use unmanned vehicle and charge position idle condition etc.) exists in dynamic occupancy and release, job order
It dynamically completes and issues, so scheduled production is in continuous cycle calculations.In the calculating of scheduled production each time, appointed according to current transport
Business, considers currently available unmanned vehicle resource and dispatching requirement, determines which unmanned vehicle goes which transport task completed, that is, determines
Unmanned vehicle-picking position matching relationship.There are a scheduled production task pool in intelligent product plan, issue for receiving upstream
All transport tasks (by the task of cage vehicle or palletized transport to specified destination).Task in scheduled production task pool is divided into several classes
Priority, and according to priority packet.Single scheduled production is needed since the task of highest priority, and repeating query multiclass priority is appointed
Business.For the transport task of every class priority, only consider that (there is cache bit resource etc. in destination) can be used in transport task destination
Task.
Currently available unmanned vehicle includes the available nothing on idle unmanned vehicle (electricity is more than or equal to charge threshold) and charging pile
People's vehicle (electricity is more than or equal to executable task threshold), and the unmanned vehicle in task of parking.Wherein, when task of parking, if
It is main line parking, can be hung up automatically when rear car encounters front truck, the unmanned vehicle of suspended state also allows to distribute.If parking position is not
Planning is on main road (i.e. parking position bifurcated is gone out), for being in task of parking and unmanned vehicle current location apart from parking position
Distance be less than preset value unmanned vehicle can not by scheduled production, with prevent unmanned vehicle reporting position there are time delay cause scheduling system with
It can be dispatched to that main road executes task for the unmanned vehicle and the actually unmanned vehicle has travelled to branch road and cannot be dispatched to main road
The case where.Such unmanned vehicle just can plan new destination after completing current task of parking with scheduled production.
The cost of adjacent point-to-point transmission can be obtained by the actual range of point-to-point transmission divided by this section of speed limit in map, and be stored
In map.For all starting point-terminals pair, the corresponding time cost of shortest path is stored in advance in product plan.Remember currently available
Unmanned vehicle collection is combined into I, and the collection of the corresponding picking position of all current priority transport tasks is combined into J.| | it indicates that unmanned vehicle can be used
Quantity.qjCargo number expression picking position j to be taken, Q=min | I |, ∑jqj, it can be obtained by establishing a minimum cost problem
To optimal unmanned vehicle, the matching relationship of picking position, objective function are as follows:
Wherein xij=1 expression unmanned vehicle i removes picking position j, cijIndicate the current location of unmanned vehicle i to the time of picking position j
Cost, product plan are stored in advance.If causing the same point nearby to have more Che Kexuan because information sends delay, it can nobody
The currently practical position of vehicle calculates cij.Above-mentioned bound for objective function are as follows:
(1)I.e. a unmanned vehicle at most goes to a picking position；
(2)I.e. the picking position received unmanned vehicle quantity of energy is not more than the picking position
To picking quantity；
(3)∑i∈I∑j∈Jxij>=Q, i.e. smallest match quantity are more than or equal to unmanned vehicle number and have the picking number of transport task
Smaller value；
(4)Indicate variable-value range.
(2) delivery is dispatched.
Unmanned vehicle is arranged to go after taking cargo to be transported (cage vehicle or pallet), according to the unique of the destination of cargo to be transported
Property, i.e., whether goods putting position is unique, to plan unmanned vehicle route.Routing sorting is carried out if it is with unmanned vehicle, i.e. goods putting position is
When a certain railway platform, the destination of usual unmanned vehicle is unique, and shortest path algorithm can be used directly and obtain.If goods putting position is not unique,
It then needs according to goods putting position apart from cargo distance to be transported, the occupancy situation of goods putting position, caching bit quantity etc. because usually true
Determine unmanned vehicle destination, then finds out shortest path.
Fig. 3 shows destination picking position, goods putting position schematic diagram.As shown in figure 3, more vehicles are arranged before picking position, goods putting position
Sequence determines node, such as can be set at the nearest turning point in certain column memory block.It is determined according to scheduled production result and needs more vehicles
(go identical picking position picking when going to identical destination, or go when the goods putting of goods putting position) to go identical destination picking to these nobody
Vehicle is grouped, (outermost according to the present case of destination when any unmanned vehicle in this group reaches more vehicle sequence decision nodes
Side cargo location to be taken or available most inboard depth), it determines final destination coordinate, completes picking or goods putting
Task.Reason for this is that the case where going to same place to take multiple cargos or go same place goods putting in more vehicles, in scheduled production
When not can determine that in same group of unmanned vehicle, which vehicle can first reach more vehicles sequences and determine nodes, then cannot be direct in scheduled production
The corresponding transport task coordinate of each vehicle is specified, more vehicle sequences is only really reached and determines node, could really determine pair of each vehicle
It should be related to.Meanwhile when any this group of unmanned vehicle reaches more vehicle sequence decision nodes, the node and surroundings nodes are locked, are arrived afterwards
The unmanned vehicle reached is hung up automatically after the node, is executed current task again after waiting front truck to pick and place goods movement, is prevented more vehicles
Conflict.
(3) it parks scheduling.
The task of parking is issued after reaching goods putting position, the removing parking position of the task is issued to the unmanned vehicle.In task of parking
Unmanned vehicle can be positioned to transport task, the task of parking can be electrically charged task covering.Parking position can be set on necessary road
On, while determining maximum parking quantity at this.To multiple parking positions, it can unify to use one to park as the task of parking
Planning path is carried out in destination.When multiple unmanned vehicles reach same parking position, (do not arrived in queue according to the sequencing queuing of arrival
Task of parking up to the unmanned vehicle actually parked a little is in suspended state), if the unmanned vehicle of foremost leaves, it is subsequent nobody
Vehicle is automatically replenished near preceding parking position.When scheduled production, it can be dispatched when residue queuing bit quantity is not 0 at this new
Unmanned vehicle removes the parking position.When scheduled production scheduling unmanned vehicle removes such parking position, queuing bit quantity is only reduced, unmanned vehicle, which leaves, parks
When position, increase can use queuing bit quantity.
The device of the scheduling unmanned vehicle of an embodiment of the present disclosure is introduced below with reference to Fig. 4.
Fig. 4 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of an embodiment of the present disclosure.As shown in figure 4, this
The device 40 of the scheduling unmanned vehicle of embodiment includes grouping module 402, coordinate determining module 404 and scheduler module 406.
Grouping module 402, is configured as dispatching more unmanned vehicles and executes transport task parallel, and will go to identical destination
Unmanned vehicle be grouped.
Coordinate determining module 404, be configured as first arrived at the destination in grouping more vehicles sequence determine nodes nobody
Vehicle determines its transport task coordinate according to destination cargo display case, and dispatches it and go to task coordinate execution transport task,
The more vehicle sequences in destination determine that node is located at destination front end.
Scheduler module 406 is configured as arriving at the destination the unmanned vehicle of more vehicle sequence decision points after in scheduling grouping in mesh
Ground more vehicles sequence determine that point waits, first arrive at the destination more vehicles sequences in a packet and determine that the unmanned vehicle of nodes leaves destination
Later, more vehicle sequences are arrived at the destination in scheduling grouping after next and determines that the unmanned vehicle of point continues to execute transport task.
Above mentioned embodiment provide the dispatching device that more depth pickings position, goods putting position issue multiple transport tasks simultaneously, energy
It is enough that unmanned vehicle in warehouse is scheduled in real time, it, can to more in warehouse after the accurate available unmanned vehicle determined in warehouse
Parallel Scheduling is carried out with unmanned vehicle, relative to the existing serial scheduling side for just issuing rear car task after front truck picking
Method can effectively reduce the standby time of unmanned vehicle, improve the dispatching efficiency that unmanned vehicle executes transport task.
Importantly, more vehicle sequences, which are arranged, in picking position, goods putting position front end in above-described embodiment determines point, it can be according to nothing
The sequence arrangement unmanned vehicle that people's vehicle is actually reached destination successively goes to corresponding coordinate and executes task, avoid scheduling failure or
There is the case where scheduling error.It is first reached for example, going out than No. two unmanned vehicles of No.1 unmanned vehicle according to route calculation in the related technology
Goods putting destination should be No.1 unmanned vehicle setting goods putting destination by inboard goods putting coordinate according to convention, be No. two nobody
Vehicle sets the goods putting coordinate of goods putting destination in the outer part.However, No.1 unmanned vehicle, which may be because, to be kept away executing in goods putting task
The extraneous factors such as barrier are later than No. two unmanned vehicles and reach goods putting destination, and cargo is placed on goods putting mesh by No. two unmanned vehicles at this time
Ground goods putting coordinate in the outer part, cause No.1 unmanned vehicle that cargo can not be placed on to goods putting destination and sat by inboard goods putting
Mark, at this time scheduling failure, system errors.And the embodiment that the disclosure provides can effectively avoid the generation of similar situation,
Therefore the dispatching efficiency that unmanned vehicle executes transport task can be further increased.
In some embodiments, the more vehicle sequences in destination determine that node is located at first turning point of destination front end.
In some embodiments, coordinate determining module 404 is configured as: coordinate where the outermost cargo of picking position is determined
For picking task coordinate；The outside adjacent coordinates of coordinate where the outermost cargo of goods putting position are determined as goods putting task coordinate.
In some embodiments, grouping module 402 is configured as: by shortest path first, calculating each picking purpose
The path of ground to corresponding goods putting destination；It dispatches each unmanned vehicle and executes goods putting task along respective parallel path.
In some embodiments, grouping module 402 is configured as: according to more unmanned vehicle present positions and picking
The position of destination calculates the unmanned vehicle-picking destination matching pair for making total time cost minimization, and calculates each unmanned vehicle extremely
The path of corresponding picking destination；It dispatches each unmanned vehicle and executes picking task along respective parallel path.
In some embodiments, grouping module 402 is configured as: being calculated so that the smallest c of following objective functionii:
Wherein, i indicates that unmanned vehicle, j indicate picking destination, xij∈ { 0,1 }, xij=1 expression unmanned vehicle i goes to picking
Destination j, xij=0 expression unmanned vehicle i does not go to picking destination j, cijIndicate the current location of unmanned vehicle i to picking purpose
The time cost of ground j；Constraint condition an are as follows: unmanned vehicle at most goes to a picking destination；One picking destination can connect
The unmanned vehicle quantity received waits for picking quantity no more than the picking destination；Smallest match is more than or equal to unmanned vehicle to quantity and has fortune
The smaller value of the picking number of defeated task.
In some embodiments, grouping module 402, which is also configured to be in main road in unmanned vehicle, parks in task and encounters
Front truck and in the case where hanging up, unmanned vehicle addition can be used into unmanned vehicle set；Unmanned vehicle be in branch road park in task and
When the unmanned vehicle current location is less than preset value at a distance from the parking position of branch road, which is deleted from available unmanned vehicle set
It removes.
Fig. 5 shows the structural schematic diagram of the device of the scheduling unmanned vehicle of the disclosure another embodiment.As shown in figure 5,
The device 50 of the scheduling unmanned vehicle of the embodiment includes: memory 510 and the processor 520 for being coupled to the memory 510, place
Reason device 520 be configured as executing based on the instruction being stored in memory 510 scheduling in any one aforementioned embodiment nobody
The method of vehicle.
Wherein, memory 510 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
The device 50 for dispatching unmanned vehicle can also include input/output interface 530, network interface 540, memory interface 550
Deng.It can for example be connected by bus 560 between these interfaces 530,540,550 and memory 510 and processor 520.Its
In, the input-output equipment such as input/output interface 530 is display, mouse, keyboard, touch screen provide connecting interface.Network connects
Mouth 540 provides connecting interface for various networked devices.The external storages such as memory interface 540 is SD card, USB flash disk provide connection and connect
Mouthful.
The disclosure further includes a kind of computer readable storage medium, is stored thereon with computer instruction, and the instruction is processed
Device realizes the scheduling unmanned vehicle in any one aforementioned embodiment method when executing.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all spirit in the disclosure and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the disclosure.
Claims (16)
1. a kind of method for dispatching unmanned vehicle, comprising:
It dispatches more unmanned vehicles and executes transport task parallel, and the unmanned vehicle for going to identical destination is grouped；
The unmanned vehicle that node is determined for first arriving at the destination more vehicle sequences in grouping, determines according to destination cargo display case
Its transport task coordinate, and dispatch it and go to the task coordinate execution transport task, the more vehicles sequences in destination determine section
Point is located at the destination front end；
More vehicle sequences are arrived at the destination after in scheduling grouping determines that the unmanned vehicle of point determines that point waits in the more vehicle sequences in destination,
It first arrives at the destination in grouping after more vehicles sequence determines that the unmanned vehicle of nodes leaves destination, is arrived after next in scheduling grouping
Determine that the unmanned vehicle of point continues to execute transport task up to the more vehicle sequences in destination.
2. the method for claim 1, wherein the more vehicle sequences in the destination determine that node is located at the destination front end
First turning point.
3. the method for claim 1, wherein described determine its transport task coordinate according to destination cargo display case
Include:
Coordinate where the outermost cargo of picking position is determined as picking task coordinate；
The outside adjacent coordinates of coordinate where the outermost cargo of goods putting position are determined as goods putting task coordinate.
4. the method for claim 1, wherein more unmanned vehicles of the scheduling execute transport task parallel and include:
By shortest path first, the path of each picking destination to corresponding goods putting destination is calculated；
It dispatches each unmanned vehicle and executes goods putting task along respective parallel path.
5. the method for claim 1, wherein more unmanned vehicles of the scheduling execute transport task parallel and include:
According to more unmanned vehicle present positions and the position of picking destination, nobody for making total time cost minimization is calculated
Vehicle-picking destination matching pair, and calculate the path of each unmanned vehicle to corresponding picking destination；
It dispatches each unmanned vehicle and executes picking task along respective parallel path.
6. method as claimed in claim 5, wherein described to calculate the unmanned vehicle-picking destination for making total time cost minimization
Matching is to including:
It calculates so that the smallest c of following objective functionij:
Wherein, i indicates that unmanned vehicle, j indicate picking destination, xij∈ { 0,1 }, xij=1 expression unmanned vehicle i goes to picking destination
J, xij=0 expression unmanned vehicle i does not go to picking destination j, cijIndicate unmanned vehicle i current location to picking destination j when
Between cost；Constraint condition an are as follows: unmanned vehicle at most goes to a picking destination；One picking destination it is receptible nobody
Vehicle quantity waits for picking quantity no more than the picking destination；Smallest match is more than or equal to unmanned vehicle to quantity and has transport task
The smaller value of picking number.
7. it includes also wrapping that the method for claim 1, wherein more unmanned vehicles of the scheduling execute transport task parallel
It includes:
In the case where unmanned vehicle is in main road and parks in task and encounter front truck and hang up, unmanned vehicle addition can be used nobody
Vehicle set；
It is in that branch road is parked in task and the unmanned vehicle current location is less than preset value at a distance from the parking position of branch road in unmanned vehicle
When, which is deleted from available unmanned vehicle set.
8. a kind of device for dispatching unmanned vehicle, comprising:
Grouping module is configured as dispatching more unmanned vehicles and executes transport task parallel, and by go to identical destination nobody
Vehicle is grouped；
Coordinate determining module is configured as determining the unmanned vehicle of node for first arriving at the destination more vehicle sequences in grouping, according to
Destination cargo display case determines its transport task coordinate, and dispatches it and go to the task coordinate execution transport task, institute
It states the more vehicle sequences in destination and determines that node is located at the destination front end；
Scheduler module is configured as arriving at the destination the unmanned vehicle of more vehicle sequence decision points after in scheduling grouping in the more vehicles in destination
Sequence determines that point waits, and first arrives at the destination after more vehicles sequence determines that the unmanned vehicle of nodes leaves destination, adjusts in a packet
More vehicle sequences are arrived at the destination in degree grouping after next and determine that the unmanned vehicle of point continues to execute transport task.
9. device as claimed in claim 8, wherein the more vehicle sequences in destination determine that node is located at the destination front end
First turning point.
10. device as claimed in claim 8, wherein the coordinate determining module is configured as:
Coordinate where the outermost cargo of picking position is determined as picking task coordinate；
The outside adjacent coordinates of coordinate where the outermost cargo of goods putting position are determined as goods putting task coordinate.
11. device as claimed in claim 8, wherein the grouping module is configured as:
By shortest path first, the path of each picking destination to corresponding goods putting destination is calculated；
It dispatches each unmanned vehicle and executes goods putting task along respective parallel path.
12. device as claimed in claim 8, wherein the grouping module is configured as:
According to more unmanned vehicle present positions and the position of picking destination, nobody for making total time cost minimization is calculated
Vehicle-picking destination matching pair, and calculate the path of each unmanned vehicle to corresponding picking destination；
It dispatches each unmanned vehicle and executes picking task along respective parallel path.
13. device as claimed in claim 12, wherein the grouping module is configured as:
It calculates so that the smallest c of following objective functionij:
Wherein, i indicates that unmanned vehicle, j indicate picking destination, xij∈ { 0,1 }, xij=1 expression unmanned vehicle i goes to picking destination
J, xij=0 expression unmanned vehicle i does not go to picking destination j, cijIndicate unmanned vehicle i current location to picking destination j when
Between cost；Constraint condition an are as follows: unmanned vehicle at most goes to a picking destination；One picking destination it is receptible nobody
Vehicle quantity waits for picking quantity no more than the picking destination；Smallest match is more than or equal to unmanned vehicle to quantity and has transport task
The smaller value of picking number.
14. device as claimed in claim 8, wherein the grouping module is also configured to
In the case where unmanned vehicle is in main road and parks in task and encounter front truck and hang up, unmanned vehicle addition can be used nobody
Vehicle set；
It is in that branch road is parked in task and the unmanned vehicle current location is less than preset value at a distance from the parking position of branch road in unmanned vehicle
When, which is deleted from available unmanned vehicle set.
15. a kind of device for dispatching unmanned vehicle, wherein include:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
The method for executing the scheduling unmanned vehicle as described in any one of claims 1 to 7.
16. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
State the method that the unmanned vehicle of the scheduling as described in any one of claims 1 to 7 is realized when instruction is executed by processor.
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| CN111754136A (en) * | 2020-06-30 | 2020-10-09 | 深圳创新奇智科技有限公司 | Factory scheduling method, device, electronic equipment and computer readable storage medium |
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| CN110728483A (en) * | 2019-09-30 | 2020-01-24 | 深圳易可达科技有限公司 | Rapid goods picking method |
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| CN113222205A (en) * | 2020-02-06 | 2021-08-06 | 北京京东振世信息技术有限公司 | Path planning method and device |
| CN113222311A (en) * | 2020-02-06 | 2021-08-06 | 北京京东乾石科技有限公司 | Robot parking method and system |
| CN113377551A (en) * | 2020-03-10 | 2021-09-10 | 北京京东乾石科技有限公司 | Unmanned vehicle task allocation method and device, electronic equipment and storage medium |
| CN113554377A (en) * | 2020-04-24 | 2021-10-26 | 北京京东乾石科技有限公司 | Task processing method and device, warehouse management system and electronic equipment |
| CN111784225A (en) * | 2020-05-08 | 2020-10-16 | 北京京东乾石科技有限公司 | Article conveying method and apparatus |
| CN111754136A (en) * | 2020-06-30 | 2020-10-09 | 深圳创新奇智科技有限公司 | Factory scheduling method, device, electronic equipment and computer readable storage medium |
| CN112183833A (en) * | 2020-09-17 | 2021-01-05 | 山东洛杰斯特物流科技有限公司 | AGV multi-vehicle collision determination method, device and equipment based on time prediction |
| CN112541701A (en) * | 2020-12-22 | 2021-03-23 | 珠海格力智能装备有限公司 | Scheduling method and device based on scheduling system |
| CN112738235A (en) * | 2020-12-29 | 2021-04-30 | 安徽路歌运输有限公司 | Method for parallel processing of transportation tasks by multiple vehicles on transportation platform |
| CN112738235B (en) * | 2020-12-29 | 2022-10-25 | 安徽路歌运输有限公司 | Method for parallel processing of transportation tasks by multiple vehicles on transportation platform |
| CN113387098A (en) * | 2021-06-30 | 2021-09-14 | 深圳市海柔创新科技有限公司 | Cargo conveying method, cargo conveying device, electronic equipment and storage medium |
| CN113415566A (en) * | 2021-07-13 | 2021-09-21 | 深圳市海柔创新科技有限公司 | Cargo transportation method, device, equipment, system and storage medium |
| CN114613140A (en) * | 2022-03-18 | 2022-06-10 | 西安主函数智能科技有限公司 | Intelligent scheduling method and device for cross area of unmanned vehicle |
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