CN110414895A - Vehicle dispatch system and method - Google Patents
Vehicle dispatch system and method Download PDFInfo
- Publication number
- CN110414895A CN110414895A CN201910684277.3A CN201910684277A CN110414895A CN 110414895 A CN110414895 A CN 110414895A CN 201910684277 A CN201910684277 A CN 201910684277A CN 110414895 A CN110414895 A CN 110414895A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- cargo
- solicited message
- object vehicle
- subsystem
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000003860 storage Methods 0.000 claims description 24
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 8
- 238000013136 deep learning model Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 abstract description 10
- 239000002699 waste material Substances 0.000 abstract description 4
- 230000032258 transport Effects 0.000 description 94
- 238000007726 management method Methods 0.000 description 24
- 230000008569 process Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013527 convolutional neural network Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Development Economics (AREA)
- Strategic Management (AREA)
- Entrepreneurship & Innovation (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
This application discloses a kind of vehicle dispatch system and methods.Wherein, this method comprises: cargo transport subsystem, for obtaining the demand information of transport cargo, and the first solicited message of vehicle scheduling is generated according to demand information；Scheduling controlling subsystem is connect with cargo transport subsystem communication, for the inquiry from vehicle management subsystem and the matched first object vehicle of the first solicited message, and is controlled the first object vehicle inquired and is reached initial position before transporting start time；Vehicle management subsystem is connect, for storing information of vehicles with scheduling controlling subsystem communication.When present application addresses due to utilizing AGV transport cargo at this stage, intelligent level is lower, cannot the cargo transportation efficiency according to caused by the cargo transport demand assignment AGV of each website it is lower, and the technical issues of waste a large amount of manpower and material resources.
Description
Technical field
This application involves logistics transportation fields, in particular to a kind of vehicle dispatch system and method.
Background technique
Automated guided vehicle (Automated Guided Vehicle, AGV) is that nobody controlled based on computer is driven
Sail automated vehicle.The application of AGV is very extensive, is related to multiple technologies field, with the development of electronics and control technology,
The technology of AGV is also constantly improving.Its flexibility with higher and working efficiency, are widely used in production industry and assembly
Field is that many manufacturing industry improve production efficiency, reduces the newest selection of entreprise cost.
But when at this stage using AGV transport cargo, intelligent level is lower, cannot be according to the cargo transport demand of each website point
With AGV, cause cargo transportation efficiency lower, and wastes a large amount of manpower and material resources.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the present application provides a kind of vehicle dispatch system and method, at least to solve due to utilizing AGV at this stage
When transporting cargo, intelligent level is lower, cannot the cargo transportation efficiency according to caused by the cargo transport demand assignment AGV of each website
It is lower, and the technical issues of waste a large amount of manpower and material resources.
According to the one aspect of the embodiment of the present application, a kind of vehicle dispatch system is provided, comprising: cargo transport subsystem
System, for obtaining the demand information of transport cargo, and the first solicited message according to demand information generation vehicle scheduling, wherein
Demand information includes: the loading capacity information of first object vehicle, the target of the initial position of cargo, cargo needed for transport cargo
The transport start time of position and cargo；Scheduling controlling subsystem is connect with cargo transport subsystem communication, is used for from vehicle
Inquiry and the matched first object vehicle of the first solicited message in management subsystem, and control the first object vehicle inquired and exist
Initial position is reached before transport start time；Vehicle management subsystem is connect, for storing with scheduling controlling subsystem communication
Information of vehicles.
Optionally, scheduling controlling subsystem is also used to inquire initial position with the presence or absence of first object vehicle；It is tied in inquiry
In the case that fruit is no, inquiry and initial position are apart from nearest first object vehicle.
Optionally, scheduling controlling subsystem is also used to after first object vehicle reaches initial position, in vehicle management
The location information of first object vehicle is updated in subsystem.
Optionally, first object vehicle is also used to when loading cargo, calculates the remaining load-carrying of first object vehicle in real time
Amount；When remaining loading capacity is less than or equal to zero, user is prompted to unload the cargo of overload；And it is sent to scheduling controlling subsystem
The goods information of overload；Scheduling controlling subsystem dispatches the second target vehicle to initial position according to the goods information of overload.
Optionally, first object vehicle is also used to send to scheduling controlling subsystem surplus when remaining loading capacity is greater than zero
Over-carriage weight；Scheduling controlling subsystem is also used to update the remaining loading capacity of first object vehicle in vehicle management subsystem.
Optionally, scheduling controlling subsystem is also used to when remaining loading capacity is greater than zero, and inquiry is with the presence or absence of the second request
Information, wherein the weight of the corresponding cargo of the second solicited message is less than or equal to remaining loading capacity, and the second solicited message pair
The target position of the target position for the cargo answered cargo corresponding with the first solicited message is identical, and the two reaches target and transports position
Difference at the time of setting is less than preset threshold.
Optionally, scheduling controlling subsystem is also used in the case where query result, which is, is, control first object vehicle dress
Carry the corresponding cargo of the second solicited message.
Optionally, scheduling controlling subsystem is also used to after the target position that first object vehicle reaches cargo, inquiry
With the presence or absence of the third solicited message with first object vehicle match；In the case where query result, which is, is, first object is controlled
Vehicle driving to the corresponding cargo of third solicited message initial position；In the case where query result is no, the first mesh is controlled
Vehicle driving is marked to empty wagons storage position.
Optionally, above system further include: vehicle control subsystems are connect, for controlling with scheduling controlling subsystem communication
First object vehicle processed is by preset travel route running.
Optionally, vehicle control subsystems are also used to during first object vehicle driving, obtain first object vehicle
Ambient image around, and ambient image is input to predetermined deep learning model, detect the traveling road of first object vehicle
Whether there are obstacles on diameter；In the case where testing result, which is, is, first object vehicle avoiding obstacles are controlled.
According to the another aspect of the embodiment of the present application, a kind of vehicle dispatching method is additionally provided, comprising: obtain vehicle scheduling
The first solicited message, wherein the first solicited message according to transport cargo demand information generate, demand information include: transport
The loading capacity information of first object vehicle, the initial position of cargo needed for cargo, the target position of cargo and the fortune of cargo
Defeated start time；Inquiry and the matched first object vehicle of the first solicited message；The first object vehicle inquired is controlled to transport
Initial position is reached before defeated start time.
Optionally, inquiry and the matched first object vehicle of the first solicited message, comprising: inquiry initial position whether there is
First object vehicle；In the case where query result is no, inquiry and initial position are apart from nearest first object vehicle.
Optionally, after the first object vehicle that control inquires reaches initial position before transporting start time,
The above method further include: when to first object vehicle loading cargo, calculate the remaining loading capacity of first object vehicle in real time；In
When remaining loading capacity is less than or equal to zero, user is prompted to unload the cargo of overload；And according to the goods information of overload to initial
Dispatch the second target vehicle in position.
Optionally, the above method further include: when remaining loading capacity is greater than zero, inquiry whether there is the second solicited message,
Wherein, the weight of the corresponding cargo of the second solicited message is less than or equal to remaining loading capacity, and the second solicited message is corresponding
The target position of the target position of cargo cargo corresponding with the first solicited message is identical, and the two reaches target transporting position
The difference at moment is less than preset threshold；In the case where query result, which is, is, control first object vehicle loading second requests letter
Cease corresponding cargo.
Optionally, after first object vehicle reaches the target position of cargo, the above method further include: whether inquiry deposits
In the third solicited message with first object vehicle match；In the case where query result, which is, is, first object vehicle row is controlled
It sails to the initial position of the corresponding cargo of third solicited message；In the case where query result is no, first object vehicle is controlled
It travels to empty wagons storage position.
Optionally, the above method further include: during first object vehicle driving, obtain first object vehicle periphery
Ambient image；Ambient image is input to predetermined deep learning model, detect on the driving path of first object vehicle whether
There are barriers；In the case where testing result, which is, is, first object vehicle avoiding obstacles are controlled.
According to the another aspect of the embodiment of the present application, another vehicle dispatching method is additionally provided, comprising: obtain transport goods
The demand information of object, wherein demand information includes: the initial of the loading capacity information of target vehicle, cargo needed for transporting cargo
The transport start time of position, the target position of cargo and cargo；The solicited message of vehicle scheduling is generated according to demand information,
Solicited message is for inquiring target vehicle；Send solicited message.
According to the embodiment of the present application in another aspect, additionally providing a kind of storage medium, storage medium includes the journey of storage
Sequence, wherein the vehicle dispatching method more than equipment execution when program is run where control storage medium.
According to the embodiment of the present application in another aspect, additionally providing a kind of processor, processor is used to run program,
In, vehicle dispatching method when program is run more than execution.
In the embodiment of the present application, a kind of vehicle dispatch system is provided, according to the one aspect of the embodiment of the present application, is mentioned
Supply a kind of vehicle dispatch system, comprising: cargo transport subsystem, for obtaining the demand information of transport cargo, and according to need
Information is asked to generate the first solicited message of vehicle scheduling, wherein demand information includes: first object vehicle needed for transport cargo
Loading capacity information, the initial position of cargo, the target position of cargo and cargo transport start time；Scheduling controlling subsystem
System, connect with cargo transport subsystem communication, for the inquiry from vehicle management subsystem and the first solicited message matched the
One target vehicle, and control the first object vehicle inquired and reach initial position before transporting start time；Vehicle management
Subsystem is connect with scheduling controlling subsystem communication, for storing information of vehicles, by utilizing Dispatching Control System according to each
The freight demand unified allocation of resources AGV haulage vehicle of website, to realize raising cargo transportation efficiency, and saves a large amount of people
Power material resources, reduce the technical effect of entreprise cost, so solve due at this stage utilize AGV transport cargo when, intelligent water
Put down it is lower, cannot the cargo transportation efficiency according to caused by the cargo transport demand assignment AGV of each website it is lower, and waste a large amount of people
The technical issues of power material resources.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram according to a kind of vehicle dispatch system of the embodiment of the present application；
Fig. 2 is the structural schematic diagram according to another vehicle dispatch system of the embodiment of the present application；
Fig. 3 is the control flow chart according to a kind of AGV control system of the application；
Fig. 4 is the scheduling flow figure according to a kind of AGV vehicle of the embodiment of the present application from start site to targeted sites；
Fig. 5 is the flow chart according to a kind of vehicle dispatching method of the embodiment of the present application；
Fig. 6 is the flow chart according to another vehicle dispatching method of the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to the embodiment of the present application, a kind of embodiment of vehicle dispatch system is provided, it should be noted that in attached drawing
The step of process illustrates can execute in a computer system such as a set of computer executable instructions, although also,
Logical order is shown in flow chart, but in some cases, it can be to be different from shown by sequence execution herein or retouch
The step of stating.
Fig. 1 is according to a kind of structural schematic diagram of vehicle dispatch system of the embodiment of the present application, as shown in Figure 1, the vehicle
Scheduling system includes the following steps:
Cargo transport subsystem 10 generates vehicle tune for obtaining the demand information of transport cargo, and according to demand information
First solicited message of degree, wherein demand information includes: the loading capacity information of first object vehicle needed for transporting cargo, goods
The transport start time of the initial position of object, the target position of cargo and cargo.
Cargo storage website is filled in transport in cargo transport subsystem 10 by staff and is ordered if there is demand of freighting
It is single, including transport and require information of vehicles, the shipping time transports place etc..The information of above-mentioned first object vehicle includes but unlimited
The weight of freight can be first treated before filling in shipping order in the loading capacity of vehicle number and vehicle that transport requires
Amount is estimated, the haulage vehicle of corresponding loading capacity is requested according to estimation results, for example, can divide according to the loading capacity estimated
Send 0.5 ton, 1 ton or 2 tons of AGV vehicle, one or more vehicles.Cargo transport subsystem 10 is according to Internet Server
It is connected with scheduling controlling subsystem 12, vehicle scheduling solicited message is generated according to shipping order, and the solicited message is sent to
Scheduling controlling subsystem 12.
Scheduling controlling subsystem 12 is communicated to connect with cargo transport subsystem 10, for from vehicle management subsystem 14
Inquiry and the matched first object vehicle of the first solicited message, and the first object vehicle inquired is controlled in transport start time
Initial position is reached before.
Vehicle management subsystem 14 is communicated to connect with scheduling controlling subsystem 12, for storing information of vehicles.
Scheduling controlling subsystem 12 is the core of entire vehicle dispatch system, is sent receiving cargo transport subsystem 10
Vehicle scheduling solicited message after, in vehicle management subsystem 14 search with the matched empty wagons of solicited message, vehicle management son
It is recorded in system 14 by the ID of the AGV vehicle of entire freight transport system, quantity, stores site location, if in transit, transport position
It sets, loading capacity, charge condition；And the quantity of the charging station of AGV vehicle, the location information etc. of charging station.
By above system, by being transported using Dispatching Control System according to the freight demand unified allocation of resources AGV of each website
Defeated vehicle to realize raising cargo transportation efficiency, and saves a large amount of manpower and material resources, reduces the technology effect of entreprise cost
Fruit.
In some embodiments of the present application, scheduling controlling subsystem 12 is also used to inquire initial position with the presence or absence of first
Target vehicle；In the case where query result is no, inquiry and initial position are apart from nearest first object vehicle.
After scheduling controlling subsystem 12 is connected to solicited message, enquiring vehicle management subsystem 14 inquires cargo institute to be transported
Website in the presence or absence of with the matched vehicle of solicited message, if being searched and goods without vehicle in website where cargo
Website is apart from nearest vehicle as target vehicle where object.
According to an optional embodiment of the application, scheduling controlling subsystem 12 is also used to reach in first object vehicle
After initial position, the location information of first object vehicle is updated in vehicle management subsystem 14.Scheduling controlling subsystem 12
The routing information of cargo transport website is sent to target AGV vehicle, after the AVG vehicle arrives at the destination, scheduling controlling
System 12 timely updates the location information of the AGV vehicle in vehicle management subsystem 14, to be subsequent allotment AGV vehicle
Convenience is provided.
In an optional embodiment of the application, first object vehicle is also used to when loading cargo, is calculated in real time
The remaining loading capacity of first object vehicle；When remaining loading capacity is less than or equal to zero, user is prompted to unload the cargo of overload；
And the goods information of overload is sent to scheduling controlling subsystem 12；Scheduling controlling subsystem 12 according to overload goods information to first
Dispatch the second target vehicle in beginning position.
When loading, AGV vehicle calculates remaining loading capacity (remaining loading capacity=theoretical maximum loading capacity-cargo gross weight), remains
When over-carriage weight is less than zero (weight of erroneous estimation cargo when request), AGV issues overload alarm, and staff is prompted to unload lower part
Distribution of goods object, the weight information for the cargo that AGV vehicle overloads to the feedback of scheduling controlling subsystem 12 at this time, scheduling controlling subsystem 12
The cargo of cargo transport website transport overload is gone to according to the overloaded cargo information allotment others AGV received.Pass through the party
The safety of cargo transport can be improved in method, avoid overloading because of cargo cause AGV vehicle broken down on the way in cargo transport or
Other uncontrollable accidents.It should be noted that AGV vehicle can detect the weight of cargo by the sensor being installed on vehicle
Amount, and then calculate the remaining loading capacity of vehicle.
According to an optional embodiment of the application, first object vehicle is also used to when remaining loading capacity is greater than zero,
Remaining loading capacity is sent to scheduling controlling subsystem 12；Scheduling controlling subsystem 12 is also used to update in vehicle management subsystem
The remaining loading capacity of first object vehicle.
According to an optional embodiment of the application, scheduling controlling subsystem 12 is also used to be greater than zero in remaining loading capacity
When, inquiry whether there is the second solicited message, wherein the weight of the corresponding cargo of the second solicited message is less than or equal to residue
Loading capacity, and the target position phase of the target position cargo corresponding with the first solicited message of the corresponding cargo of the second solicited message
Together, difference at the time of and the two reaches target transporting position is less than preset threshold.
In the case where AGV vehicle does not overload, the remaining loading capacity of AGV vehicle is fed back to scheduling controlling subsystem 12,
Scheduling controlling subsystem 12 updates the remaining loading capacity of AVG vehicle in vehicle management subsystem 14.
According to the application preferred embodiment, after AGV vehicle cargo, remaining loading capacity is also greater than zero,
Scheduling controlling subsystem 12 inquires the solicited message with the presence or absence of other vehicle schedulings from cargo transport subsystem 10 at this time, should
The demand information of the corresponding transport cargo of solicited message should meet condition: the weight of cargo to be transported is less than AGV vehicle
Remaining loading capacity, and the target of the cargo of the target transporting position of cargo to be transported and the AGV trolley entrucking is transported
Position is identical, and the transport of both cargos requires the time for arriving at target transporting position close.If the request letter inquired
The demand information for ceasing corresponding transport cargo meets above-mentioned condition, and scheduling controlling subsystem 12 sends out the address of the cargo to be transported
The AGV vehicle is given, allotment goes to AGV vehicle and transports the cargo.
According to an optional embodiment of the application, scheduling controlling subsystem is also used to the case where query result, which is, is
Under, the corresponding cargo of control the second solicited message of first object vehicle loading.
By the above method, AGV vehicle transport cargo can be made full use of, makes each vehicle in transit as far as possible
All reach fully loaded, resource can be saved to realize, reduce the purpose of transportation cost.
In some embodiments of the present application, scheduling controlling subsystem 12 is also used to reach cargo in first object vehicle
After target position, inquiry is with the presence or absence of the third solicited message with first object vehicle match；In the feelings that query result is yes
Under condition, the initial position of control first object vehicle driving to the corresponding cargo of third solicited message；It is no in query result
In the case of, control first object vehicle driving to empty wagons storage position.
After AGV vehicle reaches the targeted sites of cargo transport, staff is notified to unload, then scheduling controlling subsystem
It is corresponding to be shipped with the matched shipment request information of the AGV information of vehicles, such as new shipment request information whether 12 inquiries have
The loading capacity of defeated cargo is less than the loading capacity of the AGV vehicle, and the positional distance of the AGV vehicle at this time new freight information pair
The distance for the cargo to be transported answered is nearest, if inquiring corresponding shipment request information, control AGV vehicle goes to corresponding station
Point loading, if not inquiring corresponding freight information, controls the AGV vehicle driving to empty wagons website.
Fig. 2 is according to the structural schematic diagram of another vehicle dispatch system of the embodiment of the present application, as shown in Fig. 2, this is
System further include: vehicle control subsystems 16 are communicated to connect with scheduling controlling subsystem 12, for controlling first object vehicle by pre-
If travel route travels.
According to an optional embodiment of the application, vehicle control subsystems 16 and scheduling controlling subsystem 12 pass through nothing
Line communication connection receives the order of scheduling controlling subsystem 12, the operations such as commander's AGV vehicle driving, avoidance.
In some optional embodiments of the application, vehicle control subsystems 16 are also used in first object vehicle driving
During, the ambient image of first object vehicle periphery is obtained, and ambient image is input to predetermined deep learning model, examined
Whether there are obstacles on the driving path of survey first object vehicle；In the case where testing result, which is, is, first object is controlled
Vehicle avoiding obstacles.
Fig. 3 is according to a kind of control flow chart of AGV control system of the application, as shown in figure 3, the control flow includes
Following steps:
Step S301, System self-test, AGV master controller (vehicle control subsystems 16) obtain command and control center (scheduling
Control subsystem 12) traffic order after, according to its send initial shape carry out self-test update.
Step S302, control AGV advance according to specified path, after AGV receives routing information, control the driving of trolley
Module is according to route, in the process of moving, utilizes the environment of image collecting device (video camera) dynamic acquisition vehicle periphery
Information is simultaneously compared with image data base, is determined current position and is done decision to next step traveling.
Step S303 judges whether to encounter barrier, sharp in the process of moving using the image of image acquisition device
It, can be with the Pedestrians and vehicles etc. of real-time detection road with the algorithm of target detection of predetermined depth convolutional neural networks.Check traveling road
Whether there is barrier on line, have, enter step S304, does not continue then to be travelled by path until task terminates.
Step S304, when detecting the barrier on travel route, AGV main controller (vehicle control subsystems 16) control
Vehicle deceleration traveling, and its cut-through of turning is controlled, S302 is entered step, programme path travels again, until task terminates.
Step S305, judges whether transport task terminates, if it is judged that being yes, end transport task, control vehicle
It travels to empty wagons website；If it is judged that be it is no, enter step S302, programme path travels again, until task terminates.
By the above method, the objects such as AGV intelligent recognition pedestrian, vehicle, road sign, and Real Time Obstacle Avoiding and planning can control
Path.
Fig. 4 is the scheduling flow figure according to a kind of AGV vehicle of the embodiment of the present application from start site to targeted sites, such as
Shown in Fig. 4, the scheduling flow the following steps are included:
Step S401, first website M estimate goods weight in freight transport system, and an empty wagons is requested to be transported to website N (root
0.5 ton, 1 ton, 2 tons of AGV vehicle, one or more can be assigned according to loading capacity is estimated) transport material；
Step S402 after command and control center receives request, inquires AGV management system, and whether inquiry M website has empty wagons,
If arriving step S403 without empty wagons, having and then arrive step S405；
Step S403, command and control center search the nearest empty wagons of distance that distance M website meets delivery condition, record it
Corresponding ID and its essential information；
The routing information of M website after the vehicle is found in command and control center, is sent to the vehicle by step S404；
Control trolley is arrived according to the route of regulation after step S405, the AGV receive the order of command and control center
Up to after M website, AGV sends arriving signal to command and control center, is simultaneously emitted by and reaches alert notification related personnel loading, simultaneously
Command and control center updates transporting position information, information about power etc. in AGV management system；
Step S406, when loading, AGV calculates remaining loading capacity=theoretical maximum load-carrying-cargo airlift, remaining loading capacity
When less than 0 (when request the case where erroneous estimation loading capacity), trolley alarm is rung, and unloads partial material by related personnel, small at this time
Vehicle feeds back loaded information to command and control center, and command centre separately sends an AGV loading, (normal dress in the case where not alarming
Goods, when remaining loading capacity is greater than 0), trolley feeds back remaining loading capacity information to command and control center, and command and control center updates
The loading capacity information of AGV management system；
Step S407, command and control center judge whether to have in similar time section other websites need to freight go to it is identical
Destination, and meet loading condition, when there is such request, the order AGV in command and control center goes website loading on the way；
If when without such request, arriving step S411；
The routing information of website on the way is sent to trolley by step S408, command and control center；
Step S409, control trolley is arrived according to the route of regulation after which receives the order of command and control center
Up to after website, AGV sends arriving signal to command and control center, is simultaneously emitted by and reaches alert notification related personnel loading, simultaneously
Command and control center updates transporting position information in AGV management system；
Step S410, when loading, trolley calculates remaining loading capacity, and (erroneous estimation carries when request when remaining loading capacity is less than 0
The case where weight), trolley alarm is rung, and unloads partial material by related personnel, and trolley feeds back to command and control center and overloads at this time
Information, command centre separately send an AGV loading, small in the case where not alarming (normal loading, when remaining loading capacity is greater than 0)
Vehicle feeds back remaining loading capacity information to command and control center, and command and control center updates the loading capacity information of AGV management system；
Step S411, until loading finishes, in the case that the remaining loading capacity of trolley is still more than or equal to 0, command centre
The routing information stood to destination N is sent to trolley；
Step S412, control trolley is arrived according to the route of regulation after which receives the order of command and control center
Up to after website N, AGV sends arriving signal to command and control center, is simultaneously emitted by and reaches alert notification related personnel unloading, simultaneously
Command and control center updates transporting position information, remaining loading capacity information, remaining capacity information in AGV management system；
Step S413, command and control center detect whether that other orders need to dispatch the empty wagons of website M, if can without if
Empty wagons is put back to, and if any can then terminate this subtask, starts the scheduler task between lower secondary site；
The routing information of empty wagons website is sent to trolley by step S414, command and control center；
Step S415, the vehicle control receive after the order of command and control center control trolley according to the path of regulation
Traveling, after reaching website empty wagons website, AGV sends arriving signal to command and control center, while command and control center is managed in AGV
Transporting position information is updated in reason system.
Step S416, scheduler task terminate, and AGV trolley automatic charging supplements electricity.
Fig. 5 is according to a kind of flow chart of vehicle dispatching method of the embodiment of the present application, as shown in figure 5, this method includes
Following steps:
Step S502 obtains the first solicited message of vehicle scheduling, wherein need of first solicited message according to transport cargo
Information is asked to generate, demand information includes: loading capacity information, the initial bit of cargo of first object vehicle needed for transporting cargo
It sets, the transport start time of the target position of cargo and cargo.
Cargo storage website fills in shipping order in cargo transport subsystem by staff if there is demand of freighting,
Information of vehicles is required including transport, the shipping time transports place etc..The information of above-mentioned first object vehicle includes but is not limited to transport
The vehicle number of defeated requirement and the loading capacity of vehicle, before filling in shipping order, the weight that can first treat freight is pre-
Estimate, the haulage vehicle of corresponding loading capacity is requested according to estimation results, for example, can be assigned according to the loading capacity estimated
0.5 ton, 1 ton or 2 tons of AGV vehicle, one or more vehicles.Cargo transport subsystem 10 according to Internet Server with
Scheduling controlling subsystem is connected, and generates vehicle scheduling solicited message according to shipping order.
Step S504, inquiry and the matched first object vehicle of the first solicited message.
Step S506 controls the first object vehicle inquired and reaches initial position before transporting start time.
Scheduling controlling subsystem is the core of entire vehicle dispatch system, in the vehicle for receiving the transmission of cargo transport subsystem
After scheduling request information, searched and the matched empty wagons of solicited message in vehicle management subsystem.Inquiring matched sky
The routing information of website where cargo to be transported is sent to AGV vehicle by Che Hou, controls the AGV vehicle in transport start time
Website where reaching cargo to be transported before reaching.
By the above method, by the freight demand unified allocation of resources AGV haulage vehicle according to each website, to realize
Cargo transportation efficiency is improved, and saves a large amount of manpower and material resources, reduces the technical effect of entreprise cost.
In some embodiments of the present application, step S504 is realized by the following method: inquiry initial position whether there is
First object vehicle；In the case where query result is no, inquiry and initial position are apart from nearest first object vehicle.First
Inquire in the website where cargo to be transported with the presence or absence of with the matched vehicle of solicited message, if not having in website where cargo
Vehicle is then searched with website where cargo apart from nearest vehicle as target vehicle.
According to an optional embodiment of the application, after step S506 execution, to first object vehicle loading
When cargo, the remaining loading capacity of first object vehicle is calculated in real time；When remaining loading capacity is less than or equal to zero, user is prompted
Unload the cargo of overload；And the second target vehicle is dispatched to initial position according to the goods information of overload.
When loading, control AGV vehicle calculates remaining loading capacity, and (remaining loading capacity=theoretical maximum loading capacity-cargo is total
Weight), when remaining loading capacity is less than zero (weight of erroneous estimation cargo when request), AGV issues overload alarm, prompts staff
Partial cargo is unloaded, the weight information for the cargo that AGV vehicle overloads to scheduling controlling subsystem feedback at this time, scheduling controlling subsystem
System goes to the cargo of cargo transport website transport overload according to the overloaded cargo information allotment others AGV received.By this
The safety of cargo transport can be improved in method, avoid overloading because of cargo cause AGV vehicle broken down on the way in cargo transport or
Other uncontrollable accidents of person.It should be noted that AGV vehicle can detect cargo by the sensor being installed on vehicle
Weight, and then calculate the remaining loading capacity of vehicle.
According to an optional embodiment of the application, when remaining loading capacity is greater than zero, inquiry is asked with the presence or absence of second
Seek information, wherein the weight of the corresponding cargo of the second solicited message is less than or equal to remaining loading capacity, and the second solicited message
The target position of the target position of corresponding cargo cargo corresponding with the first solicited message is identical, and the two reaches target transport
Difference at the time of position is less than preset threshold；In the case where query result, which is, is, first object vehicle loading second is controlled
The corresponding cargo of solicited message.
In the case where AGV vehicle does not overload, the remaining loading capacity of AGV vehicle is fed back to scheduling controlling subsystem, is adjusted
Degree control subsystem updates the remaining loading capacity of AVG vehicle in vehicle management subsystem.
After AGV vehicle cargo, remaining loading capacity is also greater than zero, and scheduling controlling subsystem is sub from cargo transport at this time
Inquiry whether there is the solicited message of other vehicle schedulings in system, and the demand information of the corresponding transport cargo of the solicited message is answered
When meeting condition: the weight of cargo to be transported is less than the remaining loading capacity of AGV vehicle, and the target fortune of cargo to be transported
Defeated position is identical as the target transporting position of cargo of the AGV trolley entrucking, and the transport of both cargos requires to arrive at
The time of target transporting position is close.If the demand information of the corresponding transport cargo of the solicited message inquired meets above-mentioned item
The address of the cargo to be transported is sent to the AGV vehicle by part, scheduling controlling subsystem, and allotment goes to transport should to AGV vehicle
Cargo.
By the above method, AGV vehicle transport cargo can be made full use of, makes each vehicle in transit as far as possible
All reach fully loaded, resource can be saved to realize, reduce the purpose of transportation cost.
According to an optional embodiment of the application, after first object vehicle reaches the target position of cargo, on
State method further include: inquiry is with the presence or absence of the third solicited message with first object vehicle match；In the feelings that query result is yes
Under condition, the initial position of control first object vehicle driving to the corresponding cargo of third solicited message；It is no in query result
In the case of, control first object vehicle driving to empty wagons storage position.
After AGV vehicle reaches the targeted sites of cargo transport, staff is notified to unload, then scheduling controlling subsystem
It is corresponding to be transported with the matched shipment request information of the AGV information of vehicles, such as new shipment request information whether inquiry has
The loading capacity of cargo is less than the loading capacity of the AGV vehicle, and the positional distance of the AGV vehicle at this time new freight information is corresponding
Cargo to be transported distance it is nearest, if inquiring corresponding shipment request information, control AGV vehicle go to corresponding website
Loading, if not inquiring corresponding freight information, controls the AGV vehicle driving to empty wagons website.
In some optional embodiments of the application, during first object vehicle driving, first object is obtained
The ambient image of vehicle periphery；Ambient image is input to predetermined deep learning model, detects the traveling road of first object vehicle
Whether there are obstacles on diameter；In the case where testing result, which is, is, first object vehicle avoiding obstacles are controlled.
AGV vehicle in the process of moving, using image collecting device dynamic acquisition vehicle periphery environmental information and with figure
As database compares, determines current position and decision is done to next step traveling.Specifically, image is utilized in the process of moving
The image of acquisition device acquisition can be with real-time detection road using the algorithm of target detection of predetermined depth convolutional neural networks
Pedestrians and vehicles etc..Check on travel route whether there is barrier, if detecting that there are barriers on the route of traveling, control vehicle
Reduced Speed Now, and control its cut-through object of turning, then programme path again, until task terminates.If do not detected
Barrier out, by projected route traveling until task terminates.
Fig. 6 is according to the flow chart of another vehicle dispatching method of the embodiment of the present application, as shown in fig. 6, this method packet
Include following steps:
Step S602 obtains the demand information of transport cargo, wherein demand information includes: target needed for transport cargo
The transport start time of the loading capacity information of vehicle, the initial position of cargo, the target position of cargo and cargo.
According to an optional embodiment of the application, step S602 can be realized by cargo transport subsystem, cargo
It stores website and fills in shipping order in cargo transport subsystem by staff if there is demand of freighting, including transport requires
Information of vehicles, shipping time transport place etc..The information of above-mentioned target vehicle include but is not limited to transport require vehicle number and
The loading capacity of vehicle, before filling in shipping order, the weight that can first treat freight is estimated, is tied according to estimating
Fruit requests the haulage vehicle of corresponding loading capacity, for example, can assign 0.5 ton, 1 ton or 2 tons according to the loading capacity estimated
AGV vehicle, one or more vehicles.
Step S604 generates the solicited message of vehicle scheduling according to demand information, and solicited message is for inquiring target vehicle.
Step S606 sends solicited message.
Cargo transport subsystem is connected according to Internet Server with scheduling controlling subsystem, generates vehicle according to shipping order
Scheduling request information, and vehicle scheduling solicited message is sent to scheduling controlling subsystem.Scheduling controlling subsystem is entire
The core of vehicle dispatch system, after the vehicle scheduling solicited message for receiving the transmission of cargo transport subsystem, in vehicle management
It is searched and the matched empty wagons of solicited message in subsystem.After inquiring matched empty wagons, by website where cargo to be transported
Routing information is sent to AGV vehicle, controls the AGV vehicle and stands where reaching cargo to be transported before transport start time reaches
Point.
It should be noted that the correlation that the preferred embodiment of embodiment illustrated in fig. 6 may refer to embodiment illustrated in fig. 1 is retouched
It states, details are not described herein again.
The embodiment of the present application also provides a kind of storage medium, storage medium includes the program of storage, wherein program operation
When control storage medium where equipment execute more than vehicle dispatching method.
Storage medium is used to store the program for executing following functions: obtaining the first solicited message of vehicle scheduling, wherein the
One solicited message is generated according to the demand information of transport cargo, and demand information includes: first object vehicle needed for transport cargo
Loading capacity information, the initial position of cargo, the target position of cargo and cargo transport start time；Inquiry is asked with first
Seek the first object vehicle of information matches；It controls the first object vehicle inquired and reaches initial bit before transporting start time
It sets.Or
Obtain the demand information of transport cargo, wherein demand information includes: the load-carrying of target vehicle needed for transporting cargo
Measure the transport start time of information, the initial position of cargo, the target position of cargo and cargo；Vehicle is generated according to demand information
The solicited message of scheduling, solicited message is for inquiring target vehicle；Send solicited message.
The embodiment of the present application also provides a kind of processor, processor is for running program, wherein program executes when running
Above vehicle dispatching method.
Processor is used to run the program for executing following functions: obtaining the first solicited message of vehicle scheduling, wherein first
Solicited message is generated according to the demand information of transport cargo, and demand information includes: first object vehicle needed for transport cargo
The transport start time of loading capacity information, the initial position of cargo, the target position of cargo and cargo；Inquiry and the first request
The first object vehicle of information matches；It controls the first object vehicle inquired and reaches initial bit before transporting start time
It sets.Or
Obtain the demand information of transport cargo, wherein demand information includes: the load-carrying of target vehicle needed for transporting cargo
Measure the transport start time of information, the initial position of cargo, the target position of cargo and cargo；Vehicle is generated according to demand information
The solicited message of scheduling, solicited message is for inquiring target vehicle；Send solicited message.
Above-mentioned the embodiment of the present application serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
In above-described embodiment of the application, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the application whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only the preferred embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (19)
1. a kind of vehicle dispatch system characterized by comprising
Cargo transport subsystem generates vehicle scheduling for obtaining the demand information of transport cargo, and according to the demand information
The first solicited message, wherein the demand information include: first object vehicle needed for transporting said cargo loading capacity letter
The transport start time of breath, the initial position of the cargo, the target position of the cargo and the cargo；
Scheduling controlling subsystem is connect with the cargo transport subsystem communication, for from vehicle management subsystem inquiry with
The matched first object vehicle of first solicited message, and the first object vehicle inquired is controlled in the fortune
The initial position is reached before defeated start time；
The vehicle management subsystem is connect, for storing information of vehicles with the scheduling controlling subsystem communication.
2. system according to claim 1, which is characterized in that the scheduling controlling subsystem is also used to inquire described initial
Position whether there is the first object vehicle；In the case where query result is no, inquiry is with the initial position apart from most
The close first object vehicle.
3. system according to claim 1, which is characterized in that the scheduling controlling subsystem is also used in first mesh
After marking the vehicle arrival initial position, the position letter of the first object vehicle is updated in the vehicle management subsystem
Breath.
4. system according to claim 1, which is characterized in that the first object vehicle is also used to loading the cargo
When, the remaining loading capacity of the first object vehicle is calculated in real time；When the remaining loading capacity is less than or equal to zero, prompt
User unloads the cargo of overload；And the goods information of the overload is sent to the scheduling controlling subsystem；The scheduling controlling
Subsystem dispatches the second target vehicle to the initial position according to the goods information of the overload.
5. system according to claim 4, which is characterized in that the first object vehicle is also used in the remaining load-carrying
When amount is greater than zero, Xiang Suoshu scheduling controlling subsystem sends the remaining loading capacity；The scheduling controlling subsystem is also used to
The remaining loading capacity of the first object vehicle is updated in the vehicle management subsystem.
6. system according to claim 4, which is characterized in that the scheduling controlling subsystem is also used in the remaining load
When weight is greater than zero, inquiry whether there is the second solicited message, wherein the weight of the corresponding cargo of second solicited message is small
In or be equal to the remaining loading capacity, and the target position of the corresponding cargo of second solicited message and first request
The target position of the corresponding cargo of information is identical, and difference at the time of the two reaches the target transporting position is less than default threshold
Value.
7. system according to claim 6, which is characterized in that the scheduling controlling subsystem be also used to be in query result
In the case where being, the corresponding cargo of the second solicited message described in the first object vehicle loading is controlled.
8. system as claimed in any of claims 1 to 7, which is characterized in that the scheduling controlling subsystem is also used
In after the first object vehicle reaches the target position of the cargo, inquiry whether there is and the first object vehicle
Matched third solicited message；In the case where query result, which is, is, the first object vehicle driving is controlled to the third
The initial position of the corresponding cargo of solicited message；In the case where query result is no, the first object vehicle driving is controlled
To empty wagons storage position.
9. system according to claim 1, which is characterized in that the system also includes:
Vehicle control subsystems are connect with the scheduling controlling subsystem communication, for controlling the first object vehicle by pre-
If travel route travels.
10. system according to claim 9, which is characterized in that the vehicle control subsystems are also used to described first
During target vehicle travels, the ambient image of the first object vehicle periphery is obtained, and the ambient image is inputted
To predetermined deep learning model, detect on the driving path of the first object vehicle that whether there are obstacles；In testing result
In the case where being, controls the first object vehicle and avoid the barrier.
11. a kind of vehicle dispatching method characterized by comprising
Obtain the first solicited message of vehicle scheduling, wherein first solicited message is raw according to the demand information of transport cargo
At, the demand information include: the loading capacity information of first object vehicle needed for transporting said cargo, the cargo it is initial
The transport start time of position, the target position of the cargo and the cargo；
Inquiry and the matched first object vehicle of first solicited message；
It controls the first object vehicle inquired and reaches the initial position before the transport start time.
12. according to the method for claim 11, which is characterized in that inquiry and first solicited message matched described the
One target vehicle, comprising:
The initial position is inquired with the presence or absence of the first object vehicle；
In the case where query result is no, the inquiry first object vehicle nearest with the initial position distance.
13. according to the method for claim 11, which is characterized in that in the first object vehicle that control inquires in institute
After reaching the initial position before stating transport start time, the method also includes:
When to the first object vehicle loading cargo, the remaining loading capacity of the first object vehicle is calculated in real time；
When the remaining loading capacity is less than or equal to zero, user is prompted to unload the cargo of overload；And the cargo according to overload
Information dispatches the second target vehicle to the initial position.
14. according to the method for claim 13, which is characterized in that the method also includes:
When the remaining loading capacity is greater than zero, inquiry whether there is the second solicited message, wherein second solicited message pair
The weight for the cargo answered is less than or equal to the remaining loading capacity, and the target position of the corresponding cargo of second solicited message
The target position for setting cargo corresponding with first solicited message is identical, and at the time of the two arrival target transporting position
Difference be less than preset threshold；
In the case where query result, which is, is, the corresponding goods of the second solicited message described in the first object vehicle loading is controlled
Object.
15. according to the method for claim 11, which is characterized in that reach the mesh of the cargo in the first object vehicle
After cursor position, the method also includes:
Inquiry is with the presence or absence of the third solicited message with the first object vehicle match；
In the case where query result, which is, is, the first object vehicle driving is controlled to the corresponding goods of the third solicited message
The initial position of object；
In the case where query result is no, the first object vehicle driving is controlled to empty wagons storage position.
16. according to the method for claim 11, which is characterized in that the method also includes:
During the first object vehicle driving, the ambient image of the first object vehicle periphery is obtained；
The ambient image is input to predetermined deep learning model, detect on the driving path of the first object vehicle whether
There are barriers；
In the case where testing result, which is, is, controls the first object vehicle and avoid the barrier.
17. a kind of vehicle dispatching method characterized by comprising
Obtain the demand information of transport cargo, wherein the demand information includes: target vehicle needed for transporting said cargo
The transport start time of loading capacity information, the initial position of the cargo, the target position of the cargo and the cargo；
The solicited message of vehicle scheduling is generated according to the demand information, the request message is for inquiring the target vehicle；
Send the solicited message.
18. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Control vehicle dispatching method described in any one of equipment perform claim requirement 11 to 17 where storage medium.
19. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 11 to 17 described in vehicle dispatching method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910684277.3A CN110414895A (en) | 2019-07-26 | 2019-07-26 | Vehicle dispatch system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910684277.3A CN110414895A (en) | 2019-07-26 | 2019-07-26 | Vehicle dispatch system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110414895A true CN110414895A (en) | 2019-11-05 |
Family
ID=68363566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910684277.3A Pending CN110414895A (en) | 2019-07-26 | 2019-07-26 | Vehicle dispatch system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110414895A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111062531A (en) * | 2019-12-13 | 2020-04-24 | 上海中通吉网络技术有限公司 | Method and device for generating express trunk transportation scheme |
| CN111415104A (en) * | 2020-04-27 | 2020-07-14 | 上海东普信息科技有限公司 | Vehicle scheduling method, device, equipment and storage medium |
| CN111626578A (en) * | 2020-05-18 | 2020-09-04 | 上海东普信息科技有限公司 | Distribution method, device, equipment and storage medium of logistics truck |
| CN111652551A (en) * | 2020-05-29 | 2020-09-11 | 上海东普信息科技有限公司 | Method and device for transporting and boxing goods |
| CN112163736A (en) * | 2020-09-01 | 2021-01-01 | 格力电器（武汉）有限公司 | Finished product shipment scheduling method, system and storage medium |
| CN112631275A (en) * | 2020-11-27 | 2021-04-09 | 厦门烟草工业有限责任公司 | Control method and system compatible with different AGV (automatic guided vehicle) and tobacco logistics conveying system |
| CN113222418A (en) * | 2021-05-17 | 2021-08-06 | 重庆梅安森科技股份有限公司 | Dispatching management method for underground automatic transportation system |
| CN114047769A (en) * | 2022-01-13 | 2022-02-15 | 江西丹巴赫机器人股份有限公司 | Control method and device of unmanned carrier |
| CN116501002A (en) * | 2023-06-27 | 2023-07-28 | 交通运输部水运科学研究所 | AGV safety induction configuration method for carrying dangerous cargo container at intelligent wharf |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106485233A (en) * | 2016-10-21 | 2017-03-08 | 深圳地平线机器人科技有限公司 | Drivable region detection method, device and electronic equipment |
| CN106530678A (en) * | 2016-11-23 | 2017-03-22 | 湖南大学科技园有限公司 | Garbage truck connection method under big data platform |
| CN107977739A (en) * | 2017-11-22 | 2018-05-01 | 深圳北斗应用技术研究院有限公司 | Optimization method, device and the equipment in logistics distribution path |
| CN108932832A (en) * | 2017-05-23 | 2018-12-04 | 中国移动通信集团安徽有限公司 | Vehicle dispatching method, device and system |
| CN109669464A (en) * | 2018-07-12 | 2019-04-23 | 北京图森未来科技有限公司 | Realize the system and relevant device of automatic transport of goods |
-
2019
- 2019-07-26 CN CN201910684277.3A patent/CN110414895A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106485233A (en) * | 2016-10-21 | 2017-03-08 | 深圳地平线机器人科技有限公司 | Drivable region detection method, device and electronic equipment |
| CN106530678A (en) * | 2016-11-23 | 2017-03-22 | 湖南大学科技园有限公司 | Garbage truck connection method under big data platform |
| CN108932832A (en) * | 2017-05-23 | 2018-12-04 | 中国移动通信集团安徽有限公司 | Vehicle dispatching method, device and system |
| CN107977739A (en) * | 2017-11-22 | 2018-05-01 | 深圳北斗应用技术研究院有限公司 | Optimization method, device and the equipment in logistics distribution path |
| CN109669464A (en) * | 2018-07-12 | 2019-04-23 | 北京图森未来科技有限公司 | Realize the system and relevant device of automatic transport of goods |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111062531A (en) * | 2019-12-13 | 2020-04-24 | 上海中通吉网络技术有限公司 | Method and device for generating express trunk transportation scheme |
| CN111415104A (en) * | 2020-04-27 | 2020-07-14 | 上海东普信息科技有限公司 | Vehicle scheduling method, device, equipment and storage medium |
| CN111626578A (en) * | 2020-05-18 | 2020-09-04 | 上海东普信息科技有限公司 | Distribution method, device, equipment and storage medium of logistics truck |
| CN111652551A (en) * | 2020-05-29 | 2020-09-11 | 上海东普信息科技有限公司 | Method and device for transporting and boxing goods |
| CN112163736A (en) * | 2020-09-01 | 2021-01-01 | 格力电器（武汉）有限公司 | Finished product shipment scheduling method, system and storage medium |
| CN112631275A (en) * | 2020-11-27 | 2021-04-09 | 厦门烟草工业有限责任公司 | Control method and system compatible with different AGV (automatic guided vehicle) and tobacco logistics conveying system |
| CN113222418A (en) * | 2021-05-17 | 2021-08-06 | 重庆梅安森科技股份有限公司 | Dispatching management method for underground automatic transportation system |
| CN114047769A (en) * | 2022-01-13 | 2022-02-15 | 江西丹巴赫机器人股份有限公司 | Control method and device of unmanned carrier |
| CN114047769B (en) * | 2022-01-13 | 2022-04-12 | 江西丹巴赫机器人股份有限公司 | Control method and device of unmanned carrier |
| CN116501002A (en) * | 2023-06-27 | 2023-07-28 | 交通运输部水运科学研究所 | AGV safety induction configuration method for carrying dangerous cargo container at intelligent wharf |
| CN116501002B (en) * | 2023-06-27 | 2023-09-01 | 交通运输部水运科学研究所 | AGV safety induction configuration method for carrying dangerous cargo container at intelligent wharf |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110414895A (en) | Vehicle dispatch system and method | |
| AU2017315306B2 (en) | Autonomous condensing of pallets of items in a warehouse | |
| CN110639818B (en) | Goods picking method and device for logistics storage, computer equipment and storage medium | |
| CN110580593B (en) | Goods sorting method, control system and goods sorting system | |
| CN114023094B (en) | Wharf vehicle scheduling system, method, equipment and medium | |
| US20220414585A1 (en) | Methods and systems for transportation dock management | |
| Confessore et al. | A network flow based heuristic approach for optimising AGV movements | |
| CN107943030A (en) | The method and apparatus for controlling robot shipped goods | |
| US20200223635A1 (en) | Warehouse Management System | |
| CN108470238B (en) | Automatic AGV dispatching method based on graph theory KM matching algorithm | |
| CN114580996A (en) | Method for discharging bin | |
| CN110654807B (en) | Material transportation system and control method thereof | |
| CN114326621B (en) | Group intelligent airport consignment car scheduling method and system based on layered architecture | |
| CN114365057A (en) | Control platform, control system, service providing method and control method | |
| CN113033971B (en) | Server, and waybill scheduling method, medium and device of delivery robot | |
| CN110837994A (en) | Intelligent transportation method and system | |
| CN113065816A (en) | Unmanned dispatching transportation control method and system for automatically generating transportation tasks | |
| US20230394975A1 (en) | Method and system for operation of fleet vehicles | |
| CN114093191A (en) | Unmanned intelligent scheduling system and automatic driving method | |
| CN112001646A (en) | Material scheduling method and device, storage medium and electronic equipment | |
| CN113848929B (en) | AGV carrier scheduling method and device | |
| JP3480182B2 (en) | Transport vehicle movement scheduling device | |
| CN113919732B (en) | Park vehicle scheduling method, device, equipment and storage medium | |
| WO2024005083A1 (en) | Information processing system, information processing device, information processing method, and program | |
| CN116307990A (en) | Distribution monitoring method and device based on real-time positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191105 |