CN111144674A - Operation scheduling system and method for unmanned transport vehicle - Google Patents
Operation scheduling system and method for unmanned transport vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of scheduling operation, in particular to an operation scheduling system of an unmanned transport vehicle, which comprises the unmanned transport vehicle, a loading unit, an unloading unit, an internet of vehicles server, an operation scheduling server and a control server, wherein the internet of vehicles server, the operation scheduling server and the control server are mutually connected through a network; the vehicle networking server is used for cooperatively controlling the unmanned transport vehicle, the loading unit and the unloading unit so as to execute a scheduling instruction; the control server is used for receiving and sending out a control instruction; the job scheduling server is used for forming and sending job scheduling instructions. The invention also provides a method for scheduling the operation of the unmanned transport vehicle. Compared with the prior art, the invention has the beneficial effects that: by using the operation scheduling system of the unmanned transport vehicle and the reasonable scheduling method of the operation scheduling method of the unmanned transport vehicle, the unmanned transport vehicle can automatically and efficiently complete a large number of transport operation tasks, the investment cost is reduced, and the safety and the transport efficiency are improved.
Description
Technical Field
The invention relates to the technical field of dispatching operation of unmanned vehicles, in particular to a dispatching operation system of an unmanned transport vehicle and a dispatching operation method of the unmanned transport vehicle.
Background
At present, all major scientific and technological businesses at home and abroad and automobile manufacturing enterprises take unmanned vehicles as targets of future research and development design, and a great deal of manpower and material resources are invested in a lot, so as to initiate hardness attack aiming at each technical bottleneck in the field of unmanned vehicles. It is desirable in all respects to develop as quickly as possible an unmanned vehicle that can replace existing vehicles, and to be able to travel safely, reasonably, and more efficiently on public roads.
Although many technical problems need to be broken through and many problems in the aspect of law and regulation applicability exist before the unmanned vehicle is popularized and used, at present, if the unmanned vehicle is in a relatively isolated and relatively independent application scene, the unmanned vehicle can well avoid the disadvantages of the unmanned vehicle and exert the advantages of the unmanned vehicle so as to improve the working efficiency. For example, in a mine area, if an unmanned mining truck is used to replace an existing mining vehicle needing driver control, the efficiency of loading, unloading and production can be greatly improved, the risk of damaging the interests of others or public interests does not exist, and the problems of law and regulation applicability and the like are not involved.
At present, the main stream is still to operate the mining truck through a driver, and as the mining truck in the domestic mining area needs twenty-four hours of uninterrupted operation, the working mode that personnel rest but the vehicle works is adopted, and the driver carries out multi-shift rotation control, which is a traditional working mode.
However, with the rapid development of our country's economy, the demand for mineral resources is increasing. The requirement cannot be well met only by the traditional operation mode, and the corresponding defects are increasingly highlighted and mainly reflected in that:
firstly, the labor cost is continuously increased, and the development of national economy and the average social payroll level have obvious correlation. The economy of China is always and rapidly developed since the reform and the development of China are open, the average wage level of workers in each industry also keeps a similar rising trend, and particularly, the mining area is a high-risk environment which is severe, has no entertainment and is not suitable for living, so that the labor is in short supply and the price is rapidly increased;
secondly, the demand of mineral resources is increased year by year, the scale of mineral exploitation is continuously enlarged, the efficiency requirement expected by enterprises is higher and higher, mechanization gradually takes over part of work, the exploitation environment becomes worse and worse, the safety threat to people is also higher and higher, particularly, the transportation safety of a mining area is influenced by various aspects such as personal technical quality, physical condition, vehicle condition, road condition, weather factor and the like of a driver, the mining area has no fixed road, the temporary road surface is uneven, muddy, the soil quality of a loading and unloading place is loose, safety accidents are easy to happen, and serious potential safety hazards exist.
Therefore, there is a need for an automated transportation system for mining areas including unmanned vehicles, or there is a strong need for developing a scheduling operation system and method for unmanned transportation vehicles. With the rapid development of the unmanned automobile and the intelligent networking technology, the establishment of a closed test area in a pilot demonstration area and the coming of national relevant standards, the fact that the unmanned automobile becomes a main transport tool in the future is not contended. The dispatching operation system and method of the unmanned transport vehicle can help enterprises reduce labor cost and improve production efficiency. The dispatching operation system and method of the unmanned transport vehicle can enable the vehicle to run, load and unload according to a specific route under the condition of no driver, and automatically complete the work cycle; the vehicle can be slowed down or stopped when an accident is detected. The interior of the vehicle uses controls, GPS navigation, wireless communication technology and software to replace the driver who was originally sitting in the cab.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that the invention provides an operation scheduling system of an unmanned transport vehicle, which is characterized by comprising at least one unmanned transport vehicle, at least one loading unit, at least one unloading unit, an internet of vehicles server, an operation scheduling server and a control server; the Internet of vehicles server, the job scheduling server and the control server are communicated with each other through a network;
the Internet of vehicles server is also respectively connected with the unmanned transport vehicle, the loading unit and the unloading unit, and is used for cooperatively controlling the unmanned transport vehicle, the loading unit and the unloading unit so as to execute a scheduling instruction;
the control server is used for receiving and sending out a control instruction;
the job scheduling server is used for forming and sending job scheduling instructions.
Preferably, the unmanned transport vehicle operation scheduling system further comprises a control terminal connected with the control server, and multidimensional scheduling activation information can be input or loaded into the control server through the control terminal; and the control terminal can start the job scheduling task.
Preferably, the unmanned transport vehicle operation scheduling system further comprises a map server, and the map server, the internet of vehicles server, the operation scheduling server and the control server are communicated with each other through the network; the map server is used for storing and providing map information of a place.
Preferably, the unmanned transport vehicle, the loading unit and the unloading unit are arranged in a field, and the field further comprises a parking lot, a loading area, an unloading area and a road for the unmanned transport vehicle to run, wherein the road is communicated with each area; a vehicle detection and maintenance area is further arranged in the field and is used for stopping and maintaining the unmanned transport vehicle; and a signal base station is also arranged in the field and used for enhancing the signal intensity and the communication efficiency of the wireless communication network.
Preferably, the unmanned transport vehicle comprises a vehicle controller, a vehicle-mounted terminal, a wireless network system, an obstacle detection system, a positioning system and an automatic driving system, wherein the vehicle controller is respectively connected with the vehicle-mounted terminal, the obstacle detection system, the positioning system and the automatic driving system; the vehicle-mounted terminal is connected with the vehicle networking server through the wireless network system for communication;
the Internet of vehicles server receives the state information of the unmanned transport vehicle in real time and receives a scheduling instruction of the job scheduling server, and the Internet of vehicles server converts the scheduling instruction into a control instruction.
Preferably, the unmanned transportation vehicle is replaced by the unmanned water surface vehicle, the implementation site of the unmanned transportation vehicle operation scheduling system is changed from a land-based site to a water surface area, and the obstacle detection system comprises an electromagnetic wave detection device and/or an acoustic wave detection device.
The invention also provides a method for scheduling the operation of the unmanned transport vehicle, which is characterized by further comprising the following steps:
step S101, the job scheduling server starts to detect the state of the unmanned transport vehicle through the Internet of vehicles server; when the unmanned transport vehicle is on-line and the state is normal, executing step S103; when the unmanned transportation vehicle is off-line, executing step S102;
step S102, the operation scheduling server sends a remote start instruction to the unmanned transport vehicle through the internet of vehicles server, and monitors the state information of the unmanned transport vehicle and auxiliary equipment in real time;
step S103, the unmanned transport vehicle receives and executes the command of the Internet of vehicles server through the vehicle-mounted terminal on the vehicle, and simultaneously uploads the self state information to the Internet of vehicles server in real time;
step S104, the operation scheduling server plans a driving route according to the state of the unmanned transport vehicle, the position of a loading area, the position of an unloading area and map information;
step S105, the operation scheduling server sends out a scheduling instruction through the internet of vehicles server, the scheduling instruction is sent to a loading unit, an unloading unit and the vehicle-mounted terminal of the unmanned transport vehicle through the internet of vehicles server, and the unmanned transport vehicle, the loading unit and the unloading unit work according to the scheduling instruction.
Preferably, two steps are performed before step S101 is performed:
step S111, a user loads or inputs multidimensional scheduling activation information on a control terminal and starts a task;
step S112, after receiving the task starting request, the control server performs correlation verification on the multidimensional scheduling activation information, and after the correlation verification, the control server continuously transmits the information to the job scheduling server and starts scheduling;
after step S105 is executed, when there is no cargo to be shipped in all the loading areas or the control terminal inputs a task scheduling ending instruction, the job scheduling task ends.
Preferably, in step S105, the following scheduling instruction is executed:
step S151, judging the state; when the unmanned transport vehicle has no load, normal vehicle state, no driving task and cargo to be transported in the loading area, executing step S152; when the unmanned transport vehicle has a load, a normal vehicle state and no driving task, executing step S153; when the vehicle state is abnormal, executing step S154; when the unmanned transport vehicle has no load, a normal vehicle state, no driving task and no goods to be transported in the loading area, executing step S155;
step S152, dispatching the unmanned transport vehicle to the position of the loading unit to execute loading;
step S153, dispatching the unmanned transport vehicle to the position of the unloading unit to unload;
step S154, stopping the driving task, and scheduling the unmanned transport vehicle to drive to a vehicle detection and maintenance area;
and step S155, scheduling the unmanned transport vehicle to run to a parking lot.
Preferably, the multidimensional scheduling activation information in step S101 includes map information, loading unit information, unloading unit information, auxiliary equipment information, and the unmanned transportation vehicle information;
in step S102, after the unmanned transportation vehicle receives the remote start instruction, the unmanned transportation vehicle is remotely waken up, and then the unmanned transportation vehicle performs remote high-voltage power-on, thereby completing remote start of the vehicle.
Compared with the prior art, the invention has the beneficial effects that: through reasonable scheduling of the operation scheduling system and the operation scheduling method of the unmanned transport vehicle, the unmanned transport vehicle can automatically and efficiently complete a large number of transport operation tasks, labor cost and labor input are reduced, and safety, transport efficiency and intelligent level are improved.
Drawings
FIG. 1 is a schematic view of an application field of an unmanned transportation vehicle in embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of an unmanned transportation vehicle operation scheduling system according to embodiment 1 of the present invention;
FIG. 3 is a schematic view of a part of the internal structure of an unmanned transportation vehicle according to embodiment 1 of the present invention;
fig. 4 is a flowchart of an operation scheduling method of the unmanned transportation vehicle in embodiment 2 of the present invention;
FIG. 5 is a flowchart illustrating the execution of a scheduling instruction according to embodiment 2 of the present invention.
Reference numerals:
the system comprises a field 1, a parking lot 2, a vehicle detection and maintenance area 3, a loading area 4, an unloading area 5, an unmanned transport vehicle 6, a loading unit 7, an unloading unit 8, a signal base station 9, a road 10, an internet-of-vehicles server 20, a job scheduling server 30, a map server 40, a control server 50, a control terminal 51, a vehicle controller 61, an in-vehicle terminal 62, a wireless network system 63, an obstacle detection system 64, a positioning system 65, an automatic driving system 66 and a network 70.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Example 1
Fig. 1 is a schematic view showing an application field of an unmanned transportation vehicle according to embodiment 1 of the present invention; fig. 2 is a schematic structural diagram of an unmanned transport vehicle operation scheduling system according to embodiment 1 of the present invention; fig. 3 is a schematic view showing a part of the internal structure of the unmanned transportation vehicle according to embodiment 1 of the present invention.
The embodiment 1 of the invention provides an operation scheduling system of an unmanned transport vehicle, which comprises at least one unmanned transport vehicle 6, at least one loading unit 7, at least one unloading unit 8, an internet-of-vehicles server 20, an operation scheduling server 30 and a control server 50;
the internet of vehicles server 20, the job scheduling server 30 and the control server 50 are communicated with each other through a network 70;
the internet of vehicles server 20 is also respectively connected with the unmanned transport vehicle 6, the loading unit 7 and the unloading unit 8, and the internet of vehicles server 20 is used for cooperatively controlling the unmanned transport vehicle 6, the loading unit 7 and the unloading unit 8 to execute a scheduling instruction;
the control server 50 is used for receiving and sending control instructions;
the job scheduling server 30 is used to form and issue job scheduling instructions.
Preferably, the network 70 is a wireless communication network, further a 4G wireless communication network.
Preferably, the system for scheduling the operation of the unmanned transportation vehicle provided by the embodiment further comprises a control terminal 51, wherein the control terminal 51 is connected with the control server 50, and the multidimensional scheduling activation information can be input or loaded into the control server 50 through the control terminal 51. Further, the multidimensional scheduling activation information includes: map information, loading unit information, unloading unit information, auxiliary equipment information and vehicle information of each vehicle of the fleet to be scheduled.
The job scheduling task can be started by the control terminal 51.
Preferably, the unmanned transportation vehicle job scheduling system provided by the embodiment further comprises a map server 40, wherein the map server 40, the internet of vehicles server 20, the job scheduling server 30 and the control server 50 are communicated with each other through a network 70; the map server 40 is used to store and provide map information of the venue 1.
Besides the unmanned transport vehicle 6, the loading unit 7 and the unloading unit 8 are arranged on the site 1, the site 1 also comprises a parking lot 2, a loading area 4, an unloading area 5 and a road 10 which is communicated with the areas and is used for the unmanned transport vehicle 6 to run. The road 10 represents a road on which the unmanned transportation vehicle 6 can normally travel and pass.
Still be equipped with vehicle inspection maintenance area 3 in the place 1, vehicle inspection maintenance area 3 supplies unmanned transport vehicle 6 to stop to overhaul.
A signal base station 9 is further arranged in the site 1, and the signal base station 9 is used for enhancing the signal strength and the communication efficiency of the wireless communication network.
The unmanned transport vehicle 6 comprises a vehicle controller 61, a vehicle-mounted terminal 62, a wireless network system 63, an obstacle detection system 64, a positioning system 65 and an automatic driving system 66, wherein the vehicle controller 61 is respectively connected with the vehicle-mounted terminal 62, the obstacle detection system 64, the positioning system 65 and the automatic driving system 66; the in-vehicle terminal 62 is connected to communicate with the internet-of-vehicle server 20 through the wireless network system 63.
The internet of vehicles server 20 receives the status information of the unmanned transport vehicle 6 in real time and receives the scheduling command of the job scheduling server 30, and the internet of vehicles server 20 converts the scheduling command into a specific control command and sends the control command to the unmanned transport vehicle 6, the loading unit 7 and the unloading unit 8.
The unmanned transport vehicle 6 uploads the self-state information of the vehicle to the internet of vehicles server 20 in real time through the vehicle-mounted terminal 62, and the unmanned transport vehicle 6 receives and executes a remote control command or receives and sends remote information through the vehicle-mounted terminal 62.
The vehicle-mounted terminal 62 is preferably communicated with the vehicle networking server 20 through 4G network communication, the vehicle-mounted terminal 62 can be interconnected with equipment on the unmanned transport vehicle 6, the communication protocol of the vehicle-mounted terminal 62 and the vehicle networking server 20 adopts GB/T32960.3-2016, and the unmanned-related control instruction is supported by extending the protocol.
The remote control instruction comprises but is not limited to remote awakening of the vehicle, remote high-voltage power-on, remote starting of the vehicle, issuing of a driving route, issuing of a parking instruction, issuing of a driving instruction and the like.
The positioning system 65 is used for positioning the unmanned transportation vehicle 6 in real time, and the positioning system 65 is preferably a global positioning system, such as a GPS locator or a beidou satellite locator.
The obstacle detection system 64 is used to detect the road surface condition of the road 10 to ensure that the unmanned transportation vehicle 6 can safely travel. The obstacle detection system 64 assists the autopilot system 66.
Preferably, the obstacle detection system 64 includes an electromagnetic wave detection device, preferably a camera detector and a radar detector.
The loader unit 7 and the unloader unit 8 are provided with locators, and the loader unit 7 and the unloader unit 8 report locating information to the internet-of-vehicles server 20 in real time.
After the job scheduling server 30 forms a scheduling command or after a user inputs a vehicle transportation destination through the control terminal 51, the unmanned transportation vehicle 6 receives a wireless command and operates at an appropriate speed according to a target route, and the unmanned transportation vehicle 6 determines the accurate coordinates of the unmanned transportation vehicle 6 in the field 1 and the surrounding situation by the positioning system 65, remote commands, remote information and other guidance means, so that the unmanned transportation vehicle 6 can automatically realize complicated loading, transportation and unloading cycle work under unmanned operation.
When loading, the unmanned transport vehicle 6 is calculated and guided to the correct position by the loader unit 7 (excavator or loader) also equipped with a positioner, and the internet-of-vehicles server 20 sends route information of the unloading area 5 to ensure accurate unloading.
In terms of safety, the system can avoid collision with other trucks, graders, bulldozers, service vehicles and other equipment working in the field 1, and can immediately decelerate or stop if the obstacle detection system finds other vehicles or people on the current walking line under the operation of the operation dispatching system of the unmanned transport vehicle, so that the system is safe and reliable. And the vehicle networking server 20 detects that the vehicle state is unusual if the oil mass is not enough, tire pressure is unusual etc. will schedule unmanned haulage vehicle 6 to overhaul to vehicle detection maintenance district 3, guarantee that can solve the problem fast, do not influence the unmanned haulage vehicle 6 of other normal operations, improve output efficiency.
The embodiment also provides a method for scheduling operation of the unmanned transport vehicle, which comprises the following steps:
step S101, the job scheduling server 30 starts to detect the state of the unmanned transport vehicle 6 through the Internet of vehicles server 20; when the unmanned transportation vehicle 6 is on-line and the state is normal, executing step S103; when the unmanned transportation vehicle 6 is off-line, step S102 is executed;
step S102, the operation scheduling server 30 issues a remote start instruction to the unmanned transport vehicle 6 through the Internet of vehicles server 20, and monitors the state information of the unmanned transport vehicle 6 and the auxiliary equipment in real time;
step S103, the unmanned transport vehicle 6 receives and executes the command of the Internet of vehicles server 20 through the vehicle-mounted terminal 62 on the vehicle, and simultaneously uploads the self state information to the Internet of vehicles server 20 in real time;
step S104, the operation scheduling server 30 plans a driving route according to the state of the unmanned transport vehicle 6, the position of the loading area 4, the position of the unloading area 5 and the map information;
step S105, the job scheduling server 30 sends out a scheduling instruction through the internet of vehicles server 20, the scheduling instruction is sent to the loading unit 7, the unloading unit 8 and the vehicle-mounted terminal 62 of the unmanned transport vehicle 6 through the internet of vehicles server 20, and the unmanned transport vehicle 6, the loading unit 7 and the unloading unit 8 work according to the scheduling instruction;
preferably, the following two steps are performed before performing step S101:
step S111, a user loads or inputs multidimensional scheduling activation information on the control terminal 51 and starts a task;
in step S112, after receiving the task start request, the control server 50 performs association check on the multidimensional scheduling activation information, and after the check, the control server continues to transmit the information to the job scheduling server 30 and starts scheduling.
Preferably, the multidimensional scheduling activation information in step S101 includes: map information, loading unit information, unloading unit information, auxiliary equipment information and vehicle information of each vehicle of the fleet to be scheduled.
Preferably, in step S102, after the unmanned transportation vehicle 6 receives the remote start instruction, firstly, the unmanned transportation vehicle 6 is remotely waken up, and then the unmanned transportation vehicle 6 performs remote high-voltage power-on, thereby completing the remote start of the vehicle.
Preferably, in step S105, the following scheduling instruction is executed:
step S151, judging the state; when the unmanned transportation vehicle 6 has no load, a normal vehicle state, no driving task, and a loading area has a cargo to be transported, step S152 is executed; when the unmanned transport vehicle 6 has a load, a normal vehicle state and no driving task, executing step S153; when the vehicle state is abnormal, executing step S154; when the unmanned transport vehicle 6 has no load, a normal vehicle state, no driving task, and no cargo to be transported in the loading area, step S155 is executed;
step S152, dispatching the unmanned transport vehicle 6 to the position of the loading unit 7 to execute loading;
step S153, dispatching the unmanned transport vehicle 6 to the position of the unloading unit 8 to execute unloading;
step S154, stopping the driving task, and scheduling the unmanned transport vehicle 6 to drive to a vehicle detection and maintenance area;
step S155, the unmanned transport vehicle 6 is scheduled to travel to the parking lot 2.
Preferably, in step S105, if the scheduling command fails to be executed, a service person is notified to the field for processing.
Example 2
The present embodiment is different from embodiment 1 in that:
as shown in fig. 4, it is a flowchart of the operation scheduling method of the unmanned transportation vehicle in embodiment 2 of the present invention; fig. 5 is a flowchart illustrating the execution of a scheduling instruction according to embodiment 2 of the present invention. The embodiment provides a method for scheduling operation of an unmanned transport vehicle, which comprises the following steps:
step S1, the user loads or inputs the multidimensional scheduling activation information on the control terminal 51 and starts the task;
step S2, after receiving the task start request, the control server 50 performs association check on the multidimensional scheduling activation information, and after the check, continuously transmits the information to the job scheduling server 30, and starts scheduling;
step S3, the job scheduling server 30 starts detecting the state of the unmanned transportation vehicle 6 through the internet-of-vehicles server 20; when the unmanned transportation vehicle 6 is on-line and the state is normal, executing step S5; when the unmanned transportation vehicle 6 is off-line, step S4 is executed;
step S4, the operation dispatching server 30 sends a remote start instruction to the unmanned transport vehicle 6 through the Internet of vehicles server 20, and monitors the status information of the unmanned transport vehicle 6 and the auxiliary equipment in real time;
step S5, the driverless transport vehicle 6 receives and executes the command of the Internet of vehicles server 20 through the vehicle-mounted terminal 62 on the vehicle, and simultaneously uploads the self state information to the Internet of vehicles server 20 in real time;
step S6, the job scheduling server 30 plans a driving route according to the state of the unmanned transportation vehicle 6, the position of the loading area 4, the position of the unloading area 5, and the map information;
step S7, the job scheduling server 30 sends out a scheduling instruction through the Internet of vehicles server 20, the scheduling instruction is sent to the loading unit 7, the unloading unit 8 and the vehicle-mounted terminal 62 of the unmanned transport vehicle 6 through the Internet of vehicles server 20, and the unmanned transport vehicle 6, the loading unit 7 and the unloading unit 8 work according to the scheduling instruction;
in step S8, when there is no cargo to be shipped in all the loading areas 4 or the control terminal 51 inputs a command to end the scheduling task, the job scheduling task ends.
Preferably, the multidimensional scheduling activation information in step S1 includes: map information, loading unit information, unloading unit information, auxiliary equipment information and vehicle information of each vehicle of the fleet to be scheduled.
Preferably, in step S4, after the unmanned transportation vehicle 6 receives the remote start instruction, first, the unmanned transportation vehicle 6 is remotely waken up, and then the unmanned transportation vehicle 6 performs remote high-voltage power-up, thereby completing the remote start of the vehicle.
Preferably, in step S7, the following scheduling instruction is executed:
step S71, determining the state; when the unmanned transportation vehicle 6 has no load, a normal vehicle state, no driving task, and a loading area has a cargo to be transported, step S72 is executed; when the unmanned transportation vehicle 6 has a load, a normal vehicle state and no driving task, executing step S73; when the vehicle state is abnormal, executing step S74; when the unmanned transportation vehicle 6 has no load, a normal vehicle state, no driving task, and no cargo to be transported in the loading area, step S75 is executed;
step S72, dispatching the unmanned transport vehicle 6 to the position of the loading unit 7 to execute loading;
step S73, dispatching the unmanned transport vehicle 6 to the position of the unloading unit 8 to execute unloading;
step S74, stopping the driving task, and scheduling the driverless transport vehicle 6 to drive to the vehicle detection maintenance area;
in step S75, the unmanned transport vehicle 6 is scheduled to travel to the parking lot 2.
Preferably, in step S7, if the scheduling command fails to be executed, a service person is notified to the on-site process.
Example 3
The present embodiment is different from embodiment 1 in that:
the operation scheduling system of the unmanned transport vehicle in embodiment 1 is applied to a road transport vehicle such as the unmanned transport vehicle 6, and similarly, the operation scheduling system is applied to an unmanned water surface vehicle, and the application scenario of the operation scheduling system is also applied to a water surface transport scenario.
The vehicle is changed to a ship and the site 1 is changed from a land-based site to a water surface area.
Preferably, the obstacle detection system 64 includes an electromagnetic wave detection device, preferably a camera detector and a radar detector, and/or an acoustic wave detection device. The acoustic detection device is preferably a sonar detector.
The foregoing is merely a preferred embodiment of this invention, which is intended to be illustrative, and not limiting. The structure, the connection mode and the like of all the components in the invention can be changed, and the equivalent transformation and the improvement on the basis of the technical scheme of the invention are not excluded from the protection scope of the invention.
Claims (10)
1. An operation scheduling system of an unmanned transport vehicle is characterized by comprising at least one unmanned transport vehicle, at least one loading unit, at least one unloading unit, an internet of vehicles server, an operation scheduling server and a control server; the Internet of vehicles server, the job scheduling server and the control server are communicated with each other through a network;
the Internet of vehicles server is also respectively connected with the unmanned transport vehicle, the loading unit and the unloading unit, and is used for cooperatively controlling the unmanned transport vehicle, the loading unit and the unloading unit so as to execute a scheduling instruction;
the control server is used for receiving and sending out a control instruction;
the job scheduling server is used for forming and sending job scheduling instructions.
2. The unmanned transportation vehicle operation scheduling system of claim 1, further comprising a control terminal connected to the control server, through which multidimensional scheduling activation information can be entered or loaded into the control server; and the control terminal can start the job scheduling task.
3. The unmanned transportation vehicle operation scheduling system of claim 1, further comprising a map server, wherein the map server, the internet of vehicles server, the operation scheduling server and the control server are interconnected via the network; the map server is used for storing and providing map information of a place.
4. The unmanned aerial vehicle operation dispatching system of claim 1, wherein the unmanned aerial vehicle, the loading unit and the unloading unit are disposed in a yard, the yard further comprising a parking lot, a loading area, an unloading area and a road for the unmanned aerial vehicle to travel communicating the areas; a vehicle detection and maintenance area is further arranged in the field and is used for stopping and maintaining the unmanned transport vehicle; and a signal base station is also arranged in the field and used for enhancing the signal intensity and the communication efficiency of the wireless communication network.
5. The system according to any one of claims 1-4, wherein the unmanned transportation vehicle comprises a vehicle controller, a vehicle-mounted terminal, a wireless network system, an obstacle detection system, a positioning system and an automatic driving system, and the vehicle controller is respectively connected with the vehicle-mounted terminal, the obstacle detection system, the positioning system and the automatic driving system; the vehicle-mounted terminal is connected with the vehicle networking server through the wireless network system for communication;
the Internet of vehicles server receives the state information of the unmanned transport vehicle in real time and receives a scheduling instruction of the job scheduling server, and the Internet of vehicles server converts the scheduling instruction into a control instruction.
6. The system of claim 5, wherein the unmanned transportation vehicle is replaced by the unmanned surface vehicle, the site of implementation of the unmanned transportation vehicle operation scheduling system is changed from a land-based site to a surface area, and the obstacle detection system comprises an electromagnetic wave detection device and/or an acoustic wave detection device.
7. The operation scheduling method of the unmanned transport vehicle is characterized by further comprising the following steps:
step S101, the job scheduling server starts to detect the state of the unmanned transport vehicle through the Internet of vehicles server; when the unmanned transport vehicle is on-line and the state is normal, executing step S103; when the unmanned transportation vehicle is off-line, executing step S102;
step S102, the operation scheduling server sends a remote start instruction to the unmanned transport vehicle through the internet of vehicles server, and monitors the state information of the unmanned transport vehicle and auxiliary equipment in real time;
step S103, the unmanned transport vehicle receives and executes the command of the Internet of vehicles server through the vehicle-mounted terminal on the vehicle, and simultaneously uploads the self state information to the Internet of vehicles server in real time;
step S104, the operation scheduling server plans a driving route according to the state of the unmanned transport vehicle, the position of a loading area, the position of an unloading area and map information;
step S105, the operation scheduling server sends out a scheduling instruction through the internet of vehicles server, the scheduling instruction is sent to a loading unit, an unloading unit and the vehicle-mounted terminal of the unmanned transport vehicle through the internet of vehicles server, and the unmanned transport vehicle, the loading unit and the unloading unit work according to the scheduling instruction.
8. The unmanned transportation vehicle job scheduling method of claim 7,
before performing step S101, two steps are performed:
step S111, a user loads or inputs multidimensional scheduling activation information on a control terminal and starts a task;
step S112, after receiving the task starting request, the control server performs correlation verification on the multidimensional scheduling activation information, and after the correlation verification, the control server continuously transmits the information to the job scheduling server and starts scheduling;
after step S105 is executed, when there is no cargo to be shipped in all the loading areas or the control terminal inputs a task scheduling ending instruction, the job scheduling task ends.
9. The unmanned transportation vehicle operation scheduling method of claim 7, wherein in step S105, the following scheduling instructions are executed:
step S151, judging the state; when the unmanned transport vehicle has no load, normal vehicle state, no driving task and cargo to be transported in the loading area, executing step S152; when the unmanned transport vehicle has a load, a normal vehicle state and no driving task, executing step S153; when the vehicle state is abnormal, executing step S154; when the unmanned transport vehicle has no load, a normal vehicle state, no driving task and no goods to be transported in the loading area, executing step S155;
step S152, dispatching the unmanned transport vehicle to the position of the loading unit to execute loading;
step S153, dispatching the unmanned transport vehicle to the position of the unloading unit to unload;
step S154, stopping the driving task, and scheduling the unmanned transport vehicle to drive to a vehicle detection and maintenance area;
and step S155, scheduling the unmanned transport vehicle to run to a parking lot.
10. The unmanned transportation vehicle job scheduling method according to any one of claims 7 to 9,
the multidimensional scheduling activation information in step S101 includes map information, loading unit information, unloading unit information, auxiliary device information, and the unmanned transportation vehicle information;
in step S102, after the unmanned transportation vehicle receives the remote start instruction, the unmanned transportation vehicle is remotely waken up, and then the unmanned transportation vehicle performs remote high-voltage power-on, thereby completing remote start of the vehicle.
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