CN111311946A - Vehicle dispatching method and device - Google Patents
Vehicle dispatching method and device Download PDFInfo
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- CN111311946A CN111311946A CN202010124765.1A CN202010124765A CN111311946A CN 111311946 A CN111311946 A CN 111311946A CN 202010124765 A CN202010124765 A CN 202010124765A CN 111311946 A CN111311946 A CN 111311946A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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Abstract
The embodiment of the invention discloses a vehicle scheduling method and device. The method comprises the following steps: dividing the target road section into at least two non-overlapping operation road sections based on the single maximum operation distance of the unmanned vehicle on the target road section, wherein the length of each operation road section is less than or equal to the single maximum operation distance; matching one operation task for each operation section, wherein the operation task is used for indicating the unmanned vehicle to complete the operation of the corresponding operation section; assigning work tasks to at least one unmanned vehicle, wherein a work task is assigned only once in a single work on a target road segment. The embodiment of the invention divides the road sections based on the operation capacity of the automatic driving vehicles, and ensures that each automatic driving vehicle can finish one operation road section in single task execution. The task allocation is carried out based on the operation road section, so that the repeated operation of the operation road section can be avoided, the cooperative operation can be carried out by a plurality of unmanned vehicles, and the operation efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to an unmanned technology, in particular to a vehicle scheduling method and device.
Background
When an existing unmanned spraying vehicle works, a storehouse is generally filled with liquid such as water or disinfectant, and the liquid is sprayed according to a cruising route after the existing unmanned spraying vehicle starts from the storehouse.
The liquid that is loaded by the unmanned spray vehicle is typically sprayed only partially over the road, and then the unmanned spray vehicle is required to return to the depot to reload the liquid for continued spraying. At this time, the automatic driving spraying vehicle cannot know the position where the last spraying is finished, and can only confirm according to the road section, so that the situation that the spraying is repeated on part of the road section occurs. And when a plurality of unmanned spraying vehicles are used for cooperative work, accurate scheduling and task allocation cannot be carried out on each vehicle, so that the efficiency of spraying operation is low.
Disclosure of Invention
The embodiment of the invention provides a vehicle scheduling method and device, and aims to improve the operation efficiency.
In a first aspect, an embodiment of the present invention provides a vehicle scheduling method, which is applied to a server, and includes:
dividing a target road section into at least two non-overlapping operation road sections based on a single maximum operation distance of an unmanned vehicle on the target road section, wherein the length of each operation road section is less than and/or equal to the single maximum operation distance;
matching one operation task for each operation section, wherein the operation task is used for indicating the unmanned vehicle to complete the operation of the corresponding operation section;
assigning the work tasks to at least one of the unmanned vehicles, wherein one of the work tasks is assigned only once in a single work on the target road segment.
Optionally, before dividing the target road segment into at least two non-overlapping operation road segments based on a single maximum operation distance of the unmanned vehicle on the target road segment, the method further includes:
and determining the single maximum working distance based on the single maximum working amount, the working speed and the vehicle speed of the unmanned vehicle on the target road section.
Optionally, dividing the target road segment into at least two non-overlapping operation road segments based on a single maximum operation distance of the unmanned vehicle on the target road segment, including:
determining an initial position of the target road section;
and continuously dividing the target road section from the initial position by taking the single maximum operation distance as a reference length to obtain at least two operation road sections, wherein each operation road section is marked with a starting point position and an end point position.
Optionally, matching one job task for each job segment includes:
generating the same number of the operation tasks based on the number of the operation sections;
sequentially numbering the job tasks;
and matching the operation tasks in the corresponding sequence for each operation road section according to the sequence of the operation road sections in the target road section and the serial number sequence of the operation tasks.
Optionally, assigning the task to at least one of the unmanned vehicles includes:
sequentially distributing the operation tasks to at least one unmanned vehicle according to the serial number sequence of the operation tasks;
marking the assigned job task to indicate that the job task is no longer assigned.
Optionally, the vehicle scheduling method further includes:
after the completion of the assignment of the job tasks, each of the job tasks is reset.
In a second aspect, an embodiment of the present invention further provides a vehicle scheduling method, applied to an unmanned vehicle, including:
acquiring an operation task, wherein the operation task is matched with an operation section, the operation sections matched with different operation tasks are not overlapped, one operation task is acquired only once in a single operation on a target section, and the length of the operation section is smaller than and/or equal to the single maximum operation distance of the unmanned vehicle on the target section;
and driving to the corresponding operation section for operation based on the operation task.
Optionally, the vehicle scheduling method further includes:
returning to a replenishment area for replenishment after the operation on the corresponding operation section is completed;
and acquiring the next work task after the completion of the replenishment.
In a third aspect, an embodiment of the present invention further provides a vehicle scheduling apparatus, which is applied to a server, and includes:
the road section dividing module is used for dividing the target road section into at least two non-overlapping operation road sections based on the single maximum operation distance of the unmanned vehicle on the target road section, wherein the length of each operation road section is smaller than and/or equal to the single maximum operation distance;
the task matching module is used for matching one operation task for each operation road section, wherein the operation task is used for indicating the unmanned vehicle to complete the operation of the corresponding operation road section;
and the task allocation module is used for allocating the operation tasks to at least one unmanned vehicle, wherein one operation task is allocated only once in a single operation on the target road section.
In a fourth aspect, an embodiment of the present invention further provides a vehicle scheduling apparatus, which is applied to an unmanned vehicle, and includes:
the task obtaining module is used for obtaining an operation task, wherein the operation task is matched with an operation road section, the operation road sections matched with different operation tasks are not overlapped, in a single operation on a target road section, one operation task is obtained only once, and the length of the operation road section is smaller than and/or equal to the single maximum operation distance of the unmanned vehicle on the target road section;
and the operation module is used for driving to a corresponding operation section for operation based on the operation task.
According to the method and the device, the target road section is divided based on the single maximum operation distance of the unmanned vehicle, so that the road section is divided based on the operation capacity of the unmanned vehicle, and each unmanned vehicle can complete one operation road section in the single task execution. By matching one operation task for each operation road section and distributing the operation task to the unmanned vehicles for operation, task distribution based on the divided operation road sections is realized, so that each unmanned vehicle can operate according to the divided operation road sections strictly, the situations that the operation tasks are distributed for many times on the same road section and part of the road sections are omitted for operation are avoided, the operation on the respective road sections can be carried out orderly according to the task distribution when a plurality of unmanned vehicles carry out cooperative operation, and the operation efficiency is improved.
Drawings
Fig. 1 is a flowchart of a vehicle dispatching method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle dispatching method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a vehicle scheduling method according to a third embodiment of the present invention;
fig. 4 is a block diagram of a vehicle dispatching device according to a fourth embodiment of the present invention;
fig. 5 is a block diagram of a vehicle dispatching device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle scheduling method according to an embodiment of the present invention, which is applicable to a case where one or more unmanned vehicles are assigned with task tasks, for example, the unmanned spraying vehicles are assigned with task tasks to perform spraying operation on a specified road segment, so that the unmanned spraying vehicles can perform respective spraying operation on non-overlapping operation road segments, for example, the unmanned spraying vehicles spray water or disinfectant on the specified road segment. And the road sections which have finished spraying operation can be updated in time based on the operation condition of each unmanned spraying vehicle, so that task allocation and vehicle scheduling can be accurately carried out. The method may be performed by a server, the method comprising:
and S110, dividing the target road section into at least two non-overlapping operation road sections based on the single maximum operation distance of the unmanned vehicle on the target road section.
Wherein the length of each work section is less than and/or equal to the single maximum work distance.
The single maximum working distance is the distance which can be worked when the unmanned vehicle is fully equipped with the spraying liquid and works according to the cruising speed of the unmanned vehicle. For example, a water tank of an unmanned vehicle is filled with water or disinfectant, the unmanned spraying vehicle runs at cruising speed to perform spraying operation, and the distance from the beginning of spraying to the time when the water or the disinfectant in the water tank is sprayed is the single maximum operation distance. The cruising speed of the unmanned vehicle is set according to the road condition of the target road section.
The length of each operation section is less than or equal to the single maximum operation distance, so that the unmanned vehicle can operate one operation section each time, and the situation that the operated section cannot be effectively identified and repeated operation is carried out on part of the section when the unmanned vehicle continues to operate after the spraying liquid is supplemented because the spraying liquid cannot be completed due to the fact that the spraying liquid is insufficient is avoided.
In one embodiment, the target road section is divided at equal intervals according to the single maximum working distance from the starting point of the target road section, and a plurality of working road sections with equal length are obtained. In another embodiment, the target road segment is divided at equal intervals by using the single maximum working distance, and when the remaining road segment is less than the maximum working distance, the remaining road segment is used as the last working road segment, and the target road segment is divided into a plurality of non-overlapping working road segments.
According to the method and the device, the target operation road section is divided according to the single maximum operation distance of the unmanned vehicles, and the divided operation road sections are used for subsequent operation task allocation, so that the plurality of unmanned vehicles can operate simultaneously on the non-overlapping operation road sections. By setting each operation length to be smaller than or equal to the single large operation distance, the unmanned vehicles can be guaranteed to operate one operation road section in one operation process.
And S120, matching one operation task for each operation section.
Wherein the work task is used for instructing the unmanned vehicle to complete the work on the corresponding work section. By matching one operation task for each operation section, all the operation sections have corresponding operation tasks, so that when the operation tasks are distributed, the task distribution to each unmanned vehicle based on the operation sections can be realized, and the situations that the operation sections are repeatedly distributed with tasks or the operation sections are omitted for distributing the tasks are avoided.
And S130, distributing a work task for at least one unmanned vehicle.
In the single operation of the target road section, one operation task is only distributed once, and the fact that one operation road section is uniquely operated by one unmanned vehicle is guaranteed.
The principle of the vehicle dispatching method is as follows: the method comprises the steps of dividing a target road section according to a set reference to obtain each operation road section, performing task matching based on each divided operation road section to obtain a corresponding operation task, and performing task allocation, so that the problem that a plurality of unmanned vehicles operate simultaneously without repeated operation and missing operation can be solved.
According to the vehicle scheduling method provided by the embodiment of the invention, the target road section is divided based on the single maximum operation distance of the unmanned vehicle, so that the road section is divided based on the operation capacity of the unmanned vehicle, and each unmanned vehicle can complete one operation road section in the single task execution. By matching one operation task for each operation road section and distributing the operation task to the unmanned vehicles for operation, task distribution based on the divided operation road sections is realized, so that each unmanned vehicle can operate according to the divided operation road sections strictly, the situations that the operation tasks are distributed for many times on the same road section and part of the road sections are omitted for operation are avoided, the operation on the respective road sections can be carried out orderly according to the task distribution when a plurality of unmanned vehicles carry out cooperative operation, and the operation efficiency is improved.
On the basis of the technical scheme, optionally, after the unmanned vehicle executes the current task, the server receives feedback information that the current task is successfully executed and sent by the unmanned vehicle, updates the task based on the feedback information, and continuously allocates the task to the unmanned vehicle by taking the updated task as a task set to be allocated.
Example two
Fig. 2 is a flowchart of a vehicle dispatching method provided in a second embodiment of the present invention, which is further optimized based on the second embodiment, specifically, the vehicle dispatching method includes:
and S210, determining the single maximum working distance based on the single maximum working amount, the working speed and the vehicle speed of the unmanned vehicle on the target road section.
The single maximum work amount is the work amount that can be supported when the spray liquid container of the unmanned vehicle is fully loaded. According to the ratio of the single maximum work amount to the work rate, the single effective work duration of the unmanned autonomous vehicle can be determined. And then the single maximum working distance can be determined by the product of the single effective working duration and the speed of the unmanned vehicle.
And S220, dividing the target road section into at least two non-overlapped operation road sections based on the single maximum operation distance of the unmanned vehicle on the target road section.
In one embodiment, the work segments are divided as follows:
determining an initial position of a target road section;
and continuously dividing the target road section from the initial position by taking the single maximum operation distance as a reference length to obtain at least two operation road sections, wherein each operation road section is marked with a starting point position and an end point position.
Specifically, when the target link is divided into the operation links, the start position and the end position of each operation link are recorded. For example, the start position and the end position corresponding to each work link may be recorded in an array. The unmanned vehicle can uniquely locate the corresponding operation section by the recorded starting point position and the end point position of each group. Optionally, the start position and the end position are recorded using coordinates.
In one embodiment, if the target road segment includes a branch, before dividing the target road segment, a main road is determined from the target road segment, and an operation road segment is divided for the main road; and then dividing the operation road sections for all the branches, wherein when the operation road sections are divided for all the branches, the operation road sections can be divided for all the branches in sequence from the branch closest to the initial position according to the principle from near to far.
In another embodiment, after the main road is determined, the road segments of the target road segment are divided from the determined initial position according to the principle from near to far, when the branch occurs, the operation of the main road segment is suspended after the start position and the end position of the current operation road segment are recorded, the operation of the current branch is started, the main road is returned after the road segments of the current branch are divided, the operation of the main road segment is continued from the suspended position, and the same method is used until all the main roads and the branches in the target road segment are divided into the operation road segments.
And S230, matching one operation task for each operation road section.
In this embodiment, to implement task allocation to the unmanned vehicle based on the operation sections, it is necessary to ensure that the operation sections correspond to the operation tasks one to one.
In one embodiment, job task matching is performed as follows:
generating the same number of operation tasks based on the number of the operation sections;
sequentially numbering the operation tasks;
and matching the operation tasks in the corresponding sequence for each operation road section according to the sequence of the operation road sections in the target road section and the serial number sequence of the operation tasks.
For example, in one target link, if the number of the divided operation links is 9, 9 operation tasks are generated correspondingly, and the 9 operation tasks are numbered according to the sequence of 1-9, so that the nth operation link corresponds to the operation task with the number N, for example, the third operation link corresponds to the third operation task, thereby realizing corresponding matching of the operation link and the operation task.
In one embodiment, each job task is recorded by generating a task list, the task list at least comprises the number of each job task, and the starting position and the end position of each job task, each job section is uniquely corresponding to one task number, and the association and matching of the job sections and the job tasks are completed by recording each job task in sequence in the task list. Further, when the unmanned vehicle finishes executing the operation task, the task list can be updated by deleting the finished operation task, and the operation task is distributed according to the updated task list when the operation task is distributed subsequently, so that the situation that the operation section is repeatedly operated can be avoided.
And S240, distributing a work task for at least one unmanned vehicle.
In one embodiment, job task assignment is performed as follows:
allocating operation tasks to at least one unmanned vehicle in sequence according to the serial number sequence of the operation tasks;
the assigned job task is marked to indicate that the job task is no longer assigned.
The order of numbering may be, for example, in descending order, so that each work vehicle can perform work in order from the initial position of the target link. Of course, the job tasks may be assigned in descending order of numbers, which is not limited in this embodiment.
The job tasks are distributed according to the serial number sequence, so that the established job tasks can be distributed orderly, and the situations of omitting the distribution of the job tasks or repeatedly distributing the job tasks are avoided.
The assigned job task is marked, for example, by assigning a different color, or the assigned job task is marked as "executing", or the like. By marking the distributed job tasks, on one hand, the system can be indicated not to distribute the job tasks any more, on the other hand, the current state of each job task can be updated in real time, and the worker can know the job process of the current job section conveniently.
S250, after the complete job task is allocated, each job task is reset.
The resetting of each job task may be, for example, deleting each job task number.
The embodiment of the invention determines the single maximum operation distance based on the single maximum operation amount, the operation efficiency and the vehicle speed of the unmanned vehicle, and divides the operation road sections for the target road sections based on the single maximum operation distance, thereby ensuring that each unmanned vehicle completes the operation of one operation road section in the single task execution and avoiding the situation that the follow-up continuous operation can not be connected because one operation road section is not completely executed; the operation task numbers are matched based on the division sequence of the operation road sections, so that the corresponding matching of the operation road sections and the operation tasks is realized, the operation tasks are sequentially distributed according to the operation task numbers, the multiple unmanned vehicles can simultaneously operate on different operation road sections of the same target road section, and the operation efficiency is improved.
EXAMPLE III
Fig. 3 is a flowchart of a vehicle scheduling method according to a third embodiment of the present invention, where the method is applicable to a case where an unmanned vehicle automatically performs work after acquiring a work task, for example, a case where the unmanned spraying vehicle sprays water or sprays disinfectant to a designated area, such as an epidemic situation area, through the acquired task. The method may be performed by an unmanned vehicle, the vehicle scheduling method comprising:
and S310, acquiring a job task.
The operation tasks are matched with one operation section, the operation sections matched with different operation tasks are not overlapped, one operation task is only acquired once in single operation on the target section, and the length of the operation section is smaller than and/or equal to the single maximum operation distance of the unmanned vehicle on the target section.
And S320, driving to the corresponding operation section for operation based on the operation task.
As analyzed above, each work task corresponds to one work section, and each work section corresponds to a start point position and an end point position recorded, so that the unmanned vehicle automatically travels to a destination to perform a work by acquiring information of the start point position and the end point position corresponding to the work task.
The unmanned vehicle is provided with a navigation device, and by introducing start position and end position data of a work task into the navigation device (for example, introducing start position coordinates and end position coordinates into the navigation device), the unmanned vehicle can accurately reach a work section corresponding to the work task and automatically return to a base after the task is executed.
According to the embodiment of the invention, the automatic driving vehicle acquires the operation tasks, the operation sections needing to be operated are determined based on the operation tasks, and the unmanned driving vehicle can automatically drive to the target operation sections to execute the operation tasks by acquiring the starting position and the ending position of each operation section. The vehicle scheduling method provided by the embodiment of the invention allocates the operation tasks based on the operation sections, ensures that each operation section can be effectively allocated with the operation tasks and effectively executed, and simultaneously can realize that a plurality of unmanned vehicles can simultaneously operate the target section without mutual interference, thereby improving the operation efficiency.
On the basis of the above technical solution, optionally, the vehicle scheduling method provided in the embodiment of the present invention further includes:
returning to a replenishment area for replenishment after completing the operation on the corresponding operation section;
and acquiring the next job task after the completion of the replenishment.
Wherein each unmanned vehicle only acquires one job task at a time, and after the assigned job task is performed, the unmanned vehicle returns to a base (e.g., a warehouse) for replenishment, e.g., replenishment of sprayed water or disinfectant. It should be noted that in order to ensure that the unmanned vehicle can completely perform one job task each time, the unmanned vehicle is replenished according to the maximum replenishment amount each time. For example, when performing a water spraying task, the water tank is filled with water at the time of replenishment; or when the task of spraying the disinfectant is executed, the liquid medicine container is filled with the disinfectant when in replenishment.
Further, after completion of the replenishment, the unmanned vehicle may feed back replenishment completion information to the server to instruct the server to again assign the unmanned vehicle a job task.
And repeating the task acquisition process, the task execution process and the replenishment process until all the work tasks are executed, and returning the unmanned vehicle to the base to wait for further indication.
Example four
Fig. 4 is a block diagram of a vehicle dispatching device according to a fourth embodiment of the present invention, where the device may be implemented in software and/or hardware and may be configured in a server, and as shown in fig. 4, the vehicle dispatching device includes: a segment division module 410, a task matching module 420, and a task assignment module 430, wherein,
a road segment dividing module 410, configured to divide the target road segment into at least two non-overlapping operation road segments based on a single maximum operation distance of the unmanned vehicle on the target road segment, where a length of each operation road segment is less than and/or equal to the single maximum operation distance;
a task matching module 420 for matching one job task for each job segment, wherein the job task is used for instructing the unmanned vehicle to complete the job for the corresponding job segment;
a task assignment module 430 for assigning job tasks to at least one unmanned vehicle, wherein a job task is assigned only once in a single job for a target road segment.
Optionally, the vehicle dispatching device further comprises a single maximum working distance module, configured to determine a single maximum working distance based on a single maximum working amount, a working speed and a vehicle speed of the unmanned vehicle on the target road segment.
Optionally, the road segment dividing module 410 includes:
an initial position determination unit for determining an initial position of the target road section;
and the operation section determining unit is used for continuously dividing the target section by taking the single maximum operation distance as a reference length from the initial position to obtain at least two operation sections, wherein each operation section is marked with a starting point position and an end point position.
Optionally, the task matching module 420 includes:
a job task generation unit for generating the same number of job tasks based on the number of job segments;
the numbering unit is used for sequentially numbering the job tasks;
and the operation task matching unit is used for matching the operation tasks in the corresponding sequence for each operation road section according to the sequence of the operation road sections in the target road section and the serial number sequence of the operation tasks.
Optionally, the task allocation module 430 includes:
the operation task allocation unit is used for sequentially allocating operation tasks to at least one unmanned vehicle according to the serial number sequence of the operation tasks;
a job task marking unit for marking the assigned job task to indicate that the job task is no longer assigned.
In addition to the above technical solution, optionally, the vehicle scheduling apparatus further includes a reset module configured to reset each job task after the complete job task is allocated.
The vehicle dispatching device can execute the vehicle dispatching method executed by the server provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the vehicle dispatching method. What is not described in detail in this embodiment may refer to the description in the embodiment of the method of the present invention performed by the server.
EXAMPLE five
Fig. 5 is a block diagram of a vehicle dispatching device according to a fifth embodiment of the present invention, where the device may be implemented in software and/or hardware, and the vehicle dispatching device may be configured in an unmanned vehicle, for example, the unmanned vehicle includes a controller, and the vehicle dispatching device is configured in the controller, as shown in fig. 5, the vehicle dispatching device specifically includes: a task acquisition module 510 and a job module 520, wherein,
the task obtaining module 510 is configured to obtain an operation task, where the operation task is matched with one operation road segment, the operation road segments matched with different operation tasks are not overlapped, and in a single operation on a target road segment, one operation task is obtained only once, and the length of the operation road segment is less than and/or equal to a single maximum operation distance of the unmanned vehicle on the target road segment;
and an operation module 520, configured to drive to the corresponding operation section for operation based on the operation task.
On the basis of the above technical solution, optionally, the vehicle scheduling apparatus further includes a replenishment module, configured to return to a replenishment area for replenishment after completing the operation on the corresponding operation section.
Accordingly, the task obtaining module 510 is also configured to obtain the next job task after completion of replenishment.
The vehicle dispatching device can execute the vehicle dispatching method executed by the unmanned vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the vehicle dispatching method. What is not described in detail in this embodiment may be referred to the description of an embodiment of the method of the invention performed by an unmanned vehicle.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle scheduling method is applied to a server and is characterized by comprising the following steps:
dividing a target road section into at least two non-overlapping operation road sections based on a single maximum operation distance of an unmanned vehicle on the target road section, wherein the length of each operation road section is less than and/or equal to the single maximum operation distance;
matching one operation task for each operation section, wherein the operation task is used for indicating the unmanned vehicle to complete the operation of the corresponding operation section;
assigning the work tasks to at least one of the unmanned vehicles, wherein one of the work tasks is assigned only once in a single work on the target road segment.
2. The vehicle scheduling method according to claim 1, further comprising, before dividing the target road segment into at least two non-overlapping work segments based on a single maximum work distance of the unmanned vehicle on the target road segment:
and determining the single maximum working distance based on the single maximum working amount, the working speed and the vehicle speed of the unmanned vehicle on the target road section.
3. The vehicle scheduling method according to claim 1, wherein dividing the target road segment into at least two non-overlapping operation road segments based on a single maximum operation distance of the unmanned vehicle on the target road segment comprises:
determining an initial position of the target road section;
and continuously dividing the target road section from the initial position by taking the single maximum operation distance as a reference length to obtain at least two operation road sections, wherein each operation road section is marked with a starting point position and an end point position.
4. The vehicle scheduling method according to any one of claims 1 to 3, wherein matching one job task for each of the job segments comprises:
generating the same number of the operation tasks based on the number of the operation sections;
sequentially numbering the job tasks;
and matching the operation tasks in the corresponding sequence for each operation road section according to the sequence of the operation road sections in the target road section and the serial number sequence of the operation tasks.
5. The vehicle scheduling method of claim 4, wherein assigning the job task to at least one of the unmanned vehicles comprises:
sequentially distributing the operation tasks to at least one unmanned vehicle according to the serial number sequence of the operation tasks;
marking the assigned job task to indicate that the job task is no longer assigned.
6. The vehicle scheduling method according to any one of claims 1 to 5, further comprising:
after the completion of the assignment of the job tasks, each of the job tasks is reset.
7. A vehicle scheduling method is applied to an unmanned vehicle and is characterized by comprising the following steps:
acquiring an operation task, wherein the operation task is matched with an operation section, the operation sections matched with different operation tasks are not overlapped, one operation task is acquired only once in a single operation on a target section, and the length of the operation section is smaller than and/or equal to the single maximum operation distance of the unmanned vehicle on the target section;
and driving to the corresponding operation section for operation based on the operation task.
8. The vehicle dispatching method of claim 7, further comprising:
returning to a replenishment area for replenishment after the operation on the corresponding operation section is completed;
and acquiring the next work task after the completion of the replenishment.
9. A vehicle scheduling device applied to a server is characterized by comprising:
the road section dividing module is used for dividing the target road section into at least two non-overlapping operation road sections based on the single maximum operation distance of the unmanned vehicle on the target road section, wherein the length of each operation road section is smaller than and/or equal to the single maximum operation distance;
the task matching module is used for matching one operation task for each operation road section, wherein the operation task is used for indicating the unmanned vehicle to complete the operation of the corresponding operation road section;
and the task allocation module is used for allocating the operation tasks to at least one unmanned vehicle, wherein one operation task is allocated only once in a single operation on the target road section.
10. A vehicle scheduling device is applied to an unmanned vehicle and is characterized by comprising:
the task obtaining module is used for obtaining an operation task, wherein the operation task is matched with an operation road section, the operation road sections matched with different operation tasks are not overlapped, in a single operation on a target road section, one operation task is obtained only once, and the length of the operation road section is smaller than and/or equal to the single maximum operation distance of the unmanned vehicle on the target road section;
and the operation module is used for driving to a corresponding operation section for operation based on the operation task.
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Effective date of registration: 20230815 Address after: Building 2, No. 209 Changxing Third Road, Xiping Street, Songyang County, Lishui City, Zhejiang Province, 323000 Patentee after: Neolithic Unmanned Vehicle (Songyang) Co.,Ltd. Address before: 102200 Beijing science and technology city Changping District two North Street two Anshan Iron and Steel Research Institute No. 122 hospital Patentee before: NEOLIX TECHNOLOGIES Co.,Ltd. |