CN112819283A - Scheduling method of transport vehicle and computer readable storage medium - Google Patents
Scheduling method of transport vehicle and computer readable storage medium Download PDFInfo
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- 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
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- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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Abstract
The invention discloses a method for dispatching a transport vehicle and a computer readable storage medium, wherein the transport vehicle runs under the control of a vehicle management system, and the vehicle management system receives an operation instruction and controls the transport vehicle to run to a specified area for working. The scheduling method comprises the following steps: the vehicle management system judges whether the first waiting area has vacant parking spaces or not; if the transport vehicles in the second waiting area and/or the third waiting area accord with the entering sequence, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to travel to the vacant parking spaces in the first waiting area, wherein the entering sequence refers to the sequence of the transport vehicles entering the designated area in the operation instruction; the vehicle management system judges whether the second waiting area has vacant parking spaces or not; if the empty parking spaces exist, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to drive to the empty parking spaces in the second waiting area. The method can reduce the waiting time of the lock button dismounting area, and further effectively guarantee the production efficiency of the automatic wharf.
Description
Technical Field
The invention relates to the technical design field of an automatic wharf, in particular to a dispatching method of a transport vehicle and a computer readable storage medium.
Background
The automatic dock lock button dismounting area is an area between the boundary of a storage yard sea side crossroad and the boundary of an Intelligent transport Vehicle (IGV) operation lane line land side under a quay bridge at the front edge of the dock. The lock button mounting and dismounting area has the function that the IGV is used for mounting and dismounting the container lock buttons at four corners of the container in the loading and unloading work of the container on and off the ship at the wharf. Different from the traditional container terminal, due to the particularity of the position of the lock button dismounting area, the dismounting of the lock button on the container in the lock button dismounting area can become the bottleneck position of the automatic container terminal, the operation efficiency of the automatic terminal is directly determined, and therefore the work efficiency of the lock button dismounting area is maximized and is very important.
Under the general condition, according to the scheduling requirement of automatic pier Operation management System (Terminal Operation System, TOS), the IGV needs to get into lock button dismouting region according to appointed order, at this moment, if the IGV that waits for to get into lock button dismouting region does not conform to the order requirement at present, then can not get into lock button dismouting region, need detour in other regions (storage yard etc.), this kind of condition has not only caused IGV to travel a large amount of increases of path length, and make the regional idle state that is in of lock button dismouting for a long time, wait for IGV to get into, so that the regional lock button dismouting inefficiency of lock button dismouting, form the handling efficiency bottleneck, and then reduce the operating efficiency of whole automatic pier.
Disclosure of Invention
The invention aims to solve the technical problem that the disassembly and assembly efficiency of the lock button in the disassembly and assembly area of the lock button is low due to the fact that an IGV in the prior art bypasses. The invention provides a dispatching method of a transport vehicle, which can improve the operation efficiency of a lock button dismounting area.
Based on the above, the embodiment of the invention discloses a method for dispatching a transport vehicle, wherein the transport vehicle runs under the control of a vehicle management system, the vehicle management system receives a job instruction and controls the transport vehicle to run to a specified area for working, and the vehicle management system stores position information of parking spaces in a first waiting area, a second waiting area and a third waiting area. The scheduling method comprises the following steps:
a first judgment step: the vehicle management system judges whether the first waiting area has vacant parking spaces or not;
if the transport vehicles in the second waiting area and/or the third waiting area accord with the entering sequence, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to travel to the vacant parking spaces in the first waiting area, wherein the entering sequence refers to the sequence of the transport vehicles entering the designated area in the operation instruction;
a second judgment step: the vehicle management system judges whether the second waiting area has vacant parking spaces or not;
if the empty parking spaces exist, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to drive to the empty parking spaces in the second waiting area.
According to another embodiment of the present invention, before the first determining step and the second determining step, the method further includes:
an operation judgment step: the vehicle management system judges whether the designated area allows the entering of the transport vehicle; if the vehicle is allowed to enter, the vehicle management system controls the transport vehicle in the first waiting area to travel to a designated area for operation.
According to another embodiment of the present invention, the method further comprises: a third judging step: the vehicle management system judges whether a stop instruction is received; if yes, the vehicle management system controls the transport vehicle to stop working.
According to another embodiment of the present invention, before the job determining step, the method further includes:
the vehicle management system receives the operation instruction and controls each transport vehicle to respectively drive to a second waiting area and a third waiting area;
the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area according to the entering sequence to travel to the first waiting area.
According to another embodiment of the present invention, in the second determination step, after the vehicle management system controls the transport vehicle in the second waiting area and/or the third waiting area to travel to the vacant parking space in the second waiting area, the vehicle management system determines whether there is a vacant parking space in the third waiting area, and if so, the vehicle management system allocates the vacant transport vehicle to travel to the third waiting area.
According to another embodiment of the present invention, a method for dividing a first waiting area, a second waiting area and a third waiting area comprises:
dividing the crossroad into four lanes which are arranged in parallel based on the width of the crossroad and the width of a preset lane, wherein the lanes extend along the length direction of the crossroad, two middle lanes are defined as queuing lanes, and the other two lanes are defined as running lanes;
uniformly dividing each queuing lane into a plurality of parking spaces according to the occupied area and the preset distance of the transport vehicle, and obtaining the position information of each parking space;
the parking spaces of each queuing lane are divided, the parking space at one end far away from the designated area is divided into a third waiting area, the parking space at one end close to the designated area is divided into a first waiting area, and the parking space at the middle part is divided into a second waiting area.
According to another embodiment of the invention, the number of parking spaces in the third waiting area and the first waiting area on each queuing lane is 1.
According to another embodiment of the present invention, the transportation vehicles are sequentially arranged along the empty spaces of the queuing lane, and in the second determination step, the vehicle management system controls the transportation vehicles located behind the empty spaces of the second waiting area to sequentially move forward until the transportation vehicles located behind the empty spaces move to the empty spaces of the second waiting area.
According to another embodiment of the present invention, in the first determining step, if at least one transport vehicle exists between the transport vehicle in the entering order and the vacant parking space in the first waiting area along the extending direction of the queuing lane, the vehicle management system controls the transport vehicle in the entering order to travel to the vacant parking space in the first waiting area through the traveling lane.
Correspondingly, the embodiment of the invention also discloses a dispatching system of the transport vehicle, which comprises the following components: the vehicle management system receives the operation instruction and controls the transport vehicle to travel to the designated area to work, and position information of parking spaces in the first waiting area, the second waiting area and the third waiting area is stored in the vehicle management system; wherein the content of the first and second substances,
the vehicle management system comprises a first judgment module and a second judgment module; the first judgment module is used for judging whether the first waiting area has vacant parking spaces or not; if the transport vehicles in the second waiting area and/or the third waiting area accord with the entering sequence, the first judging module controls the transport vehicles in the second waiting area and/or the third waiting area to travel to the vacant parking spaces in the first waiting area, wherein the entering sequence refers to the working sequence of the transport vehicles entering the designated area in the operation instruction; the second judging module is used for judging whether an empty parking space exists in the second waiting area or not; if the empty parking spaces exist, the second judgment module controls the transport vehicles in the second waiting area and/or the third waiting area to travel to the empty parking spaces in the second waiting area.
According to another specific embodiment of the present invention, the vehicle management system further comprises an operation judgment module, wherein the operation judgment module is used for judging whether the designated area allows the entering of the transport vehicle; if the vehicle is allowed to enter, the operation judgment module controls the transport vehicle in the first waiting area to travel to the appointed area for operation.
Correspondingly, the embodiment of the invention also discloses a dispatching system of the transport vehicle, which comprises the following components: and the vehicle management system receives the operation instruction and controls the transport vehicle to run to the specified area to work, and position information of parking spaces in the first waiting area, the second waiting area and the third waiting area is stored in the vehicle management system. The vehicle management system includes a processor, and a memory including instructions that when executed by the processor enable the following functions: the first judgment function is used for judging whether the first waiting area has vacant parking spaces or not; if the empty parking spaces exist, controlling the transport vehicles in the second waiting area and/or the third waiting area to drive to the empty parking spaces in the first waiting area, wherein the entering sequence refers to the working sequence of the transport vehicles entering the designated area in the operation instruction; the second judgment function is used for judging whether the second waiting area has vacant parking spaces or not; and if so, controlling the transport vehicles in the second waiting area and/or the third waiting area to drive to the vacant parking spaces in the second waiting area.
Accordingly, the embodiment of the invention also discloses a computer readable storage medium, and the computer readable storage medium stores instructions which, when executed on a computer, cause the computer to execute the method.
Compared with the prior art, the invention has the following technical effects:
through setting up each waiting area, plan each transport vechicle and go to the route of traveling of appointed region (for example lock button dismouting region), can strengthen cooperation between vehicle management system and the pier operation management system, guaranteed that the in proper order of sequence of transport vechicle correctly gets into the lock button dismouting region, avoid not following the transport vechicle of order and toward other regional detours, thereby reduce the route length of traveling of transport vechicle, reduce the regional latency of lock button dismouting, the regional efficiency bottleneck of lock button dismouting has been improved and solved, and then the production efficiency of effective guarantee automatic pier.
Drawings
FIG. 1 illustrates a flow chart of a method of scheduling a vehicle of the present invention;
FIG. 2 is a schematic diagram illustrating the partitioning of waiting areas in a crossroad according to the present invention;
FIG. 3 is a schematic diagram illustrating allocation of vehicle slots in an initial state of the present invention;
FIG. 4 is a schematic diagram illustrating the path of the transport vehicle of the present invention to empty spaces in the first waiting area;
FIG. 5 is a schematic diagram illustrating the path of the transport vehicle of the present invention to empty spaces in the second waiting area;
FIG. 6 shows a detailed flow chart of the method of dispatch of a vehicle of the present invention;
FIG. 7 shows a schematic view of an electronic device of the present invention;
FIG. 8 shows a schematic diagram of a system on chip of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides a dispatching method of a transport vehicle, which can be applied to a transport system comprising a vehicle management system, a wharf operation management system and the transport vehicle. The transport vehicle may be an IGV, the vehicle management system is in communication connection with the transport vehicle and the terminal operation management system, and the vehicle management system may receive an operation instruction issued by the terminal operation management system and control the transport vehicle to travel to a specified area (the specified area is taken as an example of a lock button dismounting area to be described below) to perform work. In the method, the vehicle management system stores position information of parking spaces in a first waiting area, a second waiting area and a third waiting area. Further, the vehicle management system may store position information of all parking spaces in the first waiting area, the second waiting area, and the third waiting area.
Specifically, the prior art can be used to realize that the vehicle management system controls each IGV to travel to a designated location, and a current general method is that the vehicle management system can calculate the travel path of the IGV through a path planning algorithm according to a start point and an end point of a task in a command, and then issue a path command to the IGV through TCP/IP communication, and a navigation system is arranged in the IGV, so that the vehicle management system can go to a target point according to the path command.
As shown in fig. 1, the method for dispatching a transport vehicle may include the steps of:
first determination step S1: the vehicle management system judges whether the first waiting area has vacant parking spaces or not;
if the transport vehicles are available, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to travel to the vacant parking spaces in the first waiting area according with the entering sequence, wherein the entering sequence refers to the working sequence of the transport vehicles entering the designated area (lock button dismounting area) in the operation instruction.
That is to say, if there are vacant parking spaces in the first waiting area, the vehicle management system selects the vacant parking spaces in the first waiting area and the second waiting area, where the IGVs according with the entering sequence in the operation instruction travel to the first waiting area, so that when the lock button dismounting area needs to operate, the IGVs can directly travel to the lock button dismounting area from the first waiting area to operate, and the operation efficiency is improved. Specifically, if there is only one vacant parking space in the first waiting area, the vehicle management system selects an IGV in the entering sequence to travel to the first waiting area, and the IGV in the entering sequence can directly travel to the first waiting area through the traveling lane regardless of whether the IGV is located in the second waiting area or the third waiting area, or the IGV can directly travel to the vacant parking space in the first waiting area along a straight line if the IGV in the entering sequence is located exactly adjacent to the vacant parking space in the first waiting area; if the number of the vacant parking spaces in the first waiting area is two, the vehicle management system selects two IGVs which are in line with the entering sequence to travel to the first waiting area, and the two IGVs can simultaneously and linearly travel into the two vacant parking spaces in the first waiting area respectively or sequentially along the traveling lane without any requirement.
Specifically, the vehicle management system may determine whether each parking space is in an empty state in the vehicle relationship system by using a code, for example, the parking space is regarded as an object, the object includes attributes of whether the parking space is occupied or not, and who is occupied, and each specific parking space is an instance, and the occupation state of the lane is recorded in real time.
Second determination step S2: the vehicle management system judges whether the second waiting area has vacant parking spaces or not;
if the empty parking spaces exist, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to drive to the empty parking spaces in the second waiting area.
Namely, when the second waiting area has the vacant parking space, the vehicle management system controls the IGV behind the vacant parking space of the second waiting area to drive in time to fill the vacant parking space of the second waiting area.
Compared with the existing IGV queuing method, the scheduling method provided by the invention has the advantages that the running path of each IGV to a designated area (such as a lock button dismounting area) is planned by setting each waiting area, the cooperation between a vehicle management system and a wharf operation management system can be enhanced, the IGVs can correctly enter the lock button dismounting area in sequence, and the IGVs which do not conform to the sequence are prevented from going to other areas to detour, so that the running path length of the IGVs is reduced, the waiting time of the lock button dismounting area is reduced, the efficiency bottleneck of the lock button dismounting area is improved and solved, and the production efficiency of the automatic wharf is effectively guaranteed.
It should be noted that, in the scheduling method provided by the present invention, the order of executing the first determining step and the second determining step is not required, that is, the first determining step may be executed first and then the second determining step is executed, the second determining step may be executed first and then the first determining step is executed, or the first determining step and the second determining step may be executed simultaneously.
Specifically, the method for dividing the first waiting area, the second waiting area and the third waiting area may include:
A) dividing the crossroad into four lanes which are arranged in parallel based on the width of the crossroad and the width of a preset lane, wherein the lanes extend along the length direction of the crossroad, two middle lanes are defined as queuing lanes, and the other two lanes are defined as running lanes;
B) uniformly dividing each queuing lane into a plurality of parking spaces based on the preset distance and the occupied area of the transport vehicle, and obtaining the position information of each parking space;
C) the parking spaces of each queuing lane are divided, the parking space at one end far away from the lock button dismounting area is divided into a third waiting area, the parking space at one end close to the lock button dismounting area is divided into a first waiting area, and the parking space at the middle part is divided into a second waiting area.
Specifically, step a) may be performed in the map design module, the preset lane width may be set according to a turning radius and a safe driving area of the transport vehicle in an actual situation, for example, the preset lane width may be set to 30m, and finally, the cross road may be divided into four lanes each having a width of 30m according to 30m in combination with an actual width of the cross road. After the division, the map design module may transmit the map planned to include each lane to the vehicle management system, and the vehicle management system further divides each parking space in the lane, that is, step B) and step C) may be performed in the vehicle management system. Similarly, the preset distance can also be set according to the turning radius and the safe driving area of the transport vehicle under the actual condition, for example, the preset distance can be set to be 30m, the occupied area required by the transport vehicle can be set according to the transport vehicle under the actual condition, and the vehicle management system further divides the queuing lane into a plurality of parking spaces with the same size according to the set preset distance and the occupied area and obtains the position information of each parking space. Specifically, the position information of each parking space may be a position coordinate. In other words, according to the limit position of the lock button dismounting area issued by the terminal operation management system, in combination with the turning radius and the safe driving area of the IGV, the positions of the IGV in the first waiting area, the second waiting area and the third waiting area are automatically calculated, the area occupied by each parking space is the space capable of parking one IGV, the number of the parking spaces can be configured according to the actual situation, and is generally not less than 10. The first waiting area, the second waiting area and the third waiting area can be collectively called as buffer waiting areas, wherein the first waiting area is a waiting area which accords with the sequence of entering the unlocking head channel, the second waiting area is a common waiting area, and IGVs are sequentially and uniformly queued backwards in the second waiting area; the third waiting area is a tail waiting area, and all IGVs going to the waiting buffer need to go to the tail waiting area first (i.e. the third waiting area).
Furthermore, the number of the parking spaces in the third waiting area and the first waiting area on each queuing lane is 1.
Referring to fig. 2, in general, a dock may include a bay under-bridge area, a deck plate storage area, a lock button dismounting area, a cross road, a yard, and the like, and at present, when the lock button dismounting area is operated on the dock, a vehicle management control system generally controls an IGV to enter the lock button dismounting area via the cross road, but when the IGV waiting to enter the lock button dismounting area on the cross road does not meet the requirement of an entering sequence, the IGV cannot enter the lock button dismounting area, and at this time, the IGV needs to detour in other areas (such as the yard), which not only causes consumption of electric quantity of the IGV, but also affects the operation efficiency of the lock button dismounting area.
Taking fig. 2 as an example, in the embodiment of the present invention, the crossroad is divided into four lanes 1, 2, 3 and 4, wherein lane 1 and lane 4 are driving lanes, lane 2 and lane 3 are queuing lanes, further, lane 2 and lane 3 are further divided into 10 parking spaces uniformly according to the position of the lock button mounting and dismounting area, wherein parking spaces F1 and F2 are located in the first waiting areas of lane 2 and lane 3, respectively; the M1, M3 and M5 parking spaces are located in a second waiting area of the 2 lanes, and the M2, M4 and M6 parking spaces are located in a second waiting area of the 3 lanes; r1 and R2 are located in the third waiting areas of the 2 lanes and the 3 lanes, respectively. Before the IGVs in the entering sequence enter the lock button dismounting area for operation, the IGVs in the entering sequence stop at parking spaces (for example, spaces F1 and F2 in fig. 2) in the first waiting area, and then wait for entering the lock button dismounting area for operation.
Further, the transportation vehicles are sequentially arranged along the parking spaces of the queuing lane (i.e. the first waiting area, the second waiting area, and the third waiting area), and in the second determination step S2, the vehicle management system may specifically control the transportation vehicles located behind the vacant parking spaces of the second waiting area to sequentially move forward until the transportation vehicle originally located behind the vacant parking spaces of the second waiting area moves to the vacant parking spaces of the second waiting area. That is to say, when the number of the vacant parking spaces in the second waiting area is 1, the vehicle management system controls the IGVs in the second waiting area and the third waiting area behind the vacant parking spaces in the second waiting area to sequentially drive forward by one parking space so as to fill the vacant parking spaces in the second waiting area; when the vacant parking spaces in the second waiting area are two adjacent parking spaces, the vehicle management system controls each IGV behind the vacant parking spaces to sequentially drive forwards for 2 parking spaces so as to fill the vacant parking spaces; when the number of the vacant parking spaces in the second waiting area is two and the two vacant parking spaces are not adjacent, the vehicle management system respectively controls the IGVs behind the two vacant parking spaces to sequentially drive forwards until the two vacant parking spaces are filled by the IGVs. For example, referring to fig. 5, when M1 space in the second waiting area of 2 lanes and M4 space in the second waiting area of 3 lanes are vacant, the vehicle management system respectively controls IGVs (IGV-5, IGV-7, IGV-9) behind M1 space of 2 lanes to travel forward one space in sequence along 2 lanes so that IGV-5 travels into M1 space, and simultaneously controls IGVs (IGV-8, IGV-10) behind M4 space of 3 lanes to travel forward one space in sequence along 3 lanes so that IGV-8 travels into M4 space, wherein the traveling direction of each IGV is indicated by arrows in fig. 5.
Further, in the first determination step S1, if at least one transport vehicle exists between the transport vehicle in the entering order and the vacant parking space in the first waiting area along the extending direction of the queuing lane, the vehicle management system controls the transport vehicle in the entering order to travel to the vacant parking space in the first waiting area through the traveling lane.
In other words, when there is an empty space in the first waiting area and there is a barrier between the IGV and the empty space along the extension direction of the queuing lane, so that the IGV cannot directly drive to the empty space along a straight line, it can drive to the empty space through the driving lane. Specifically, as shown in fig. 4, the arrows in the figure represent the driving directions of the IGVs, and a vacant parking space F1 and a vacant parking space F2 exist in the first waiting area, the vehicle management system controls the IGV in accordance with the entering sequence on the same queuing lane (i.e., 2 lane) as the parking space F1 to travel to the parking space F1, and controls the IGV in accordance with the entering sequence on the same queuing lane (i.e., 3 lane) as the parking space F2 to travel to the parking space F2; at the moment, the IGV which is in line with the entering sequence on the lane 2 is an IGV (IGV-3) No. 3 positioned behind the F1 parking space, and the vehicle management system can control the IGV-3 to directly drive to the F1 parking space along a straight line; and the IGV which accords with the entering sequence on the 3 lanes is IGV No. 6 (IGV-6), IGV No. 4 (IGV-4) is reserved between IGV-6 and F2, and at the moment, the vehicle management system can control IGV-6 to drive into F2 parking space through the driving lane.
Further, the scheduling method of the transporter may further include an initial driving step, which may be provided to be performed before the first and second determination steps S1 and S2, the initial driving step may include:
the vehicle management system receives the operation instruction and controls each transport vehicle to respectively drive to a second waiting area and a third waiting area; the vehicle management system can control the transport vehicles to sequentially travel to the second waiting area through the third waiting area.
The vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area according to the entering sequence to travel to the first waiting area.
Specifically, as shown in fig. 3, initially, all the parking spaces in the first to third waiting areas are empty, after the loading task is allocated by the terminal operation management system, all the IGVs are planned to the parking space in the third waiting area, and the number of IGVs planned to the first to third waiting areas cannot exceed the total number of the parking spaces in the first to third waiting areas. When the vehicle management system receives a work instruction issued by the wharf operation management system, each IGV is controlled to travel to the third waiting area, and after the IGV reaches the third waiting area, the second waiting area is empty, so that the IGVs sequentially travel forward to the second waiting area. After the IGV reaches the second waiting area, the first waiting area is empty, and the vehicle management system selects the IGV meeting the scheduling order requirement (i.e., the entering order) of the terminal operation management system from the second waiting area and the third waiting area to enter the first waiting area.
Specifically, the vehicle management system calculates the running path of the IGV through a path planning algorithm according to the starting point and the end point of the task, then sends a path instruction to the IGV through TCP/IP communication, and the IGV goes to a target point according to the path instruction.
Further, the scheduling method of the transporter may further include a job determination step, which is performed after the initial travel step, before the first determination step S1 and the second determination step S2. The job determination step may specifically include:
the vehicle management system judges whether the lock button dismounting area allows to enter the transport vehicle; if the vehicle is allowed to enter, the vehicle management system controls the transport vehicle in the first waiting area to travel to the lock button dismounting area.
After the vehicle management system controls the IGV to drive into the first waiting area, the vehicle management system can judge whether the IGV is allowed to enter the lock button dismounting area for work or not, and if the IGV is allowed to enter the lock button dismounting area, the vehicle management system can control the IGV in the first waiting area to enter the lock button dismounting area.
Further, in order to improve the efficiency of the operation of the lock button dismounting area, in the second determination step, after the vehicle management system controls the transport vehicle in the second waiting area and/or the third waiting area to travel to the vacant parking space in the second waiting area, the vehicle management system may further determine whether the vacant parking space exists in the third waiting area, and if so, the vehicle management system allocates the vacant transport vehicle to travel to the third waiting area. Specifically, the vehicle management system may dispatch empty vehicles located in the area below the shore bridge to a third waiting area.
When the third waiting area has vacant parking spaces, the IGV paths of other operation areas can be allowed to be planned to the vacant parking spaces of the third waiting area, and then the operation of the lock button dismounting area is participated in according to the scheduling method provided by the invention under the control of the vehicle management system.
Further, the method for dispatching the transport vehicle may further include:
third determination step S3: whether the vehicle management system receives a stop instruction issued by the wharf operation management system or not; if yes, the vehicle management system controls the transport vehicle to stop working.
In other words, in the working process, when the vehicle management system receives a stop instruction issued by the wharf operation management system, the vehicle management system controls the IGVs waiting in line in each waiting area and the IGVs working in the lock button dismounting and mounting area to stop working.
Specifically, as shown in fig. 6, as an embodiment of the present invention, the method for scheduling a transport vehicle may specifically include the following steps performed in sequence:
after the wharf operation management system allocates the ship loading task, planning all IGV paths to a third waiting area, controlling the IGVs to sequentially move forwards to the second waiting area by the vehicle management system after the IGVs reach the third waiting area, wherein the second waiting area is empty, controlling the IGVs to sequentially move forwards to the second waiting area by the vehicle management system, controlling the IGVs which accord with the entering sequence from the second waiting area and the third waiting area to enter the first waiting area by the vehicle management system after the IGVs reach the second waiting area, wherein the first waiting area is empty;
judging whether the lock button dismounting area allows to enter the transport vehicle or not; if the vehicle is allowed to enter, the vehicle management system controls the transport vehicle in the first waiting area to travel to the lock button dismounting area; otherwise, continuing to wait;
judging whether the first waiting area has vacant parking spaces or not; if the first waiting area has vacant parking spaces, the vehicle management system controls IGVs in the second waiting area and/or the third waiting area in accordance with the entering sequence to run to the vacant parking spaces of the first waiting area; if the first waiting area does not have vacant parking spaces, executing the next step;
judging whether a vacant parking space exists in the second waiting area, if so, controlling the IGVs in the second waiting area and the third waiting area behind the vacant parking space in the second waiting area to sequentially drive forwards by the vehicle management system so as to fill the vacant parking space in the second waiting area; if the second waiting area has no vacant parking spaces, executing the next step;
judging whether a third waiting area has an empty parking space, if so, allocating an empty IGV in the area below the shore bridge to drive to the third waiting area; otherwise, executing the next step;
judging whether a stop instruction issued by a wharf operation management system is received; if so, the vehicle management system controls the transport vehicle to stop working; otherwise, returning to execute the step of judging whether the lock button dismounting area allows to enter the transport vehicle.
Accordingly, the embodiment of the present invention further provides a computer-readable storage medium, where instructions are stored on the computer-readable storage medium, and when the instructions are executed on a computer, the instructions cause the computer to execute the method for scheduling a transport vehicle.
Referring to FIG. 7, shown is a block diagram of an electronic device 400 in accordance with one embodiment of the present application. The electronic device 400 may include one or more processors 401 coupled to a controller hub 403. For at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-drop Bus such as a Front Side Bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or similar connection port. Processor 401 executes instructions that control general types of data processing operations. In one embodiment, the Controller Hub 403 includes, but is not limited to, a Graphics Memory Controller Hub (GMCH) (not shown) and an Input/Output Hub (IOH) (which may be on separate chips) (not shown), where the GMCH includes a Memory and a Graphics Controller and is coupled to the IOH.
The electronic device 400 may also include a coprocessor 402 and memory 404 coupled to the controller hub 403. Alternatively, one or both of the memory and GMCH may be integrated within the processor 401 (as described herein), with the memory 404 and coprocessor 402 coupled directly to the processor 401 and to the controller hub 403, with the controller hub 403 and IOH in a single chip.
The Memory 404 may be, for example, a Dynamic Random Access Memory (DRAM), a Phase Change Memory (PCM), or a combination of the two. Memory 404 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions therein. A computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: instructions that, when executed by at least one of the processors 401, cause the electronic device 400 to implement the method as shown in fig. 1. The instructions, when executed on a computer, cause the computer to perform the methods disclosed in any one or combination of the embodiments above.
In one embodiment, the coprocessor 402 is a special-purpose processor, such as, for example, a high-throughput MIC (man Integrated Core) processor, a network or communication processor, compression engine, graphics processor, GPGPU (General-purpose computing on graphics processing unit), embedded processor, or the like. The optional nature of coprocessor 402 is represented in FIG. 7 by dashed lines.
In one embodiment, the electronic device 400 may further include a Network Interface Controller (NIC) 406. Network interface 406 may include a transceiver to provide a radio interface for electronic device 400 to communicate with any other suitable device (e.g., front end module, antenna, etc.). In various embodiments, the network interface 406 may be integrated with other components of the electronic device 400. The network interface 406 may implement the functions of the communication unit in the above-described embodiments.
The electronic device 400 may further include an Input/Output (I/O) device 405. The I/O device 405 may include: a user interface designed to enable a user to interact with the electronic device 400; the design of the peripheral component interface enables peripheral components to also interact with the electronic device 400; and/or sensors are designed to determine environmental conditions and/or location information associated with electronic device 400.
It is noted that fig. 7 is merely exemplary. That is, although fig. 7 shows that the electronic device 400 includes a plurality of devices, such as a processor 401, a controller hub 403, a memory 404, etc., in practical applications, the device using the methods of the present application may include only a part of the devices of the electronic device 400, for example, may include only the processor 401 and the network interface 406. The nature of the alternative device in fig. 7 is shown in dashed lines.
Referring now to fig. 8, shown is a block diagram of a SoC (System on Chip) 500 in accordance with an embodiment of the present application. In fig. 8, like parts have the same reference numerals. In addition, the dashed box is an optional feature of more advanced socs. In fig. 8, the SoC500 includes: an interconnect unit 550 coupled to the processor 510; a system agent unit 580; a bus controller unit 590; an integrated memory controller unit 540; a set or one or more coprocessors 520 which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a Static Random-Access Memory (SRAM) unit 530; a Direct Memory Access (DMA) unit 560. In one embodiment, coprocessor 520 comprises a special-purpose processor, such as, for example, a network or communication processor, compression engine, GPGPU (General-purpose computing on graphics processing units, General-purpose computing on a graphics processing unit), high-throughput MIC processor, or embedded processor, among others.
Static Random Access Memory (SRAM) unit 530 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions. A computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions. The instructions may include: instructions that when executed by at least one of the processors cause the SoC to implement the method as shown in fig. 1. The instructions, when executed on a computer, cause the computer to perform the methods disclosed in the embodiments described above.
The method embodiments of the present application may be implemented in software, magnetic, firmware, etc.
Program code may be applied to input instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a Processor such as, for example, a Digital Signal Processor (DSP), a microcontroller, an Application Specific Integrated Circuit (ASIC), or a microprocessor.
The program code may be implemented in a high level procedural or object oriented programming language to communicate with a processing system. The program code can also be implemented in assembly or machine language, if desired. Indeed, the mechanisms described herein are not limited in scope to any particular programming language. In any case, the language may be a compiled or interpreted language.
One or more aspects of at least one embodiment may be implemented by representative instructions stored on a computer-readable storage medium, which represent various logic in a processor, which when read by a machine causes the machine to fabricate logic to perform the techniques herein. These representations, known as "IP (Intellectual Property) cores," may be stored on a tangible computer-readable storage medium and provided to a number of customers or production facilities to load into the manufacturing machines that actually manufacture the logic or processors.
In some cases, an instruction converter may be used to convert instructions from a source instruction set to a target instruction set. For example, the instruction converter may transform (e.g., using a static binary transform, a dynamic binary transform including dynamic compilation), morph, emulate, or otherwise convert the instruction into one or more other instructions to be processed by the core. The instruction converter may be implemented in software, hardware, firmware, or a combination thereof. The instruction converter may be on the processor, off-processor, or partially on and partially off-processor.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A method for dispatching a transport vehicle, wherein the transport vehicle runs under the control of a vehicle management system, the vehicle management system receives a job instruction and controls the transport vehicle to run to a designated area for work, and the vehicle management system stores position information of parking spaces in a first waiting area, a second waiting area and a third waiting area, and the method comprises the following steps:
a first judgment step: the vehicle management system judges whether the first waiting area has vacant parking spaces or not;
if the empty parking spaces exist, the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area to move to the empty parking spaces in the first waiting area according with the entering sequence, wherein the entering sequence refers to the working sequence of the transport vehicles entering the designated area in the working order;
a second judgment step: the vehicle management system judges whether the second waiting area has vacant parking spaces or not;
and if so, controlling the transport vehicle in the second waiting area and/or the third waiting area to run to the vacant parking space in the second waiting area by the vehicle management system.
2. The scheduling method of claim 1, wherein before the first determining step and the second determining step, further comprising:
an operation judgment step: the vehicle management system judges whether the designated area allows the entering of the transport vehicle; and if the vehicle is allowed to enter, the vehicle management system controls the transport vehicle in the first waiting area to travel to a specified area for operation.
3. The scheduling method of claim 2, further comprising: a third judging step: the vehicle management system judges whether a stop instruction is received; and if so, controlling the transport vehicle to stop operating by the vehicle management system.
4. The scheduling method of claim 2, prior to the job determining step, further comprising:
the vehicle management system receives the operation instruction and controls each transport vehicle to respectively drive to the second waiting area and the third waiting area;
the vehicle management system controls the transport vehicles in the second waiting area and/or the third waiting area according to the entering sequence to travel to the first waiting area.
5. The scheduling method of claim 1, wherein in the second determining step, after the vehicle management system controls the transportation vehicles in the second waiting area and/or a third waiting area to travel to the vacant parking spaces in the second waiting area, the vehicle management system determines whether vacant parking spaces exist in the third waiting area, and if so, the vehicle management system allocates vacant transportation vehicles to travel to the third waiting area.
6. The scheduling method of claim 1, wherein the dividing method of the first waiting area, the second waiting area and the third waiting area comprises:
dividing a crossroad into four lanes which are arranged in parallel based on the width of the crossroad and the width of a preset lane, wherein the lanes extend along the length direction of the crossroad, two lanes in the middle are defined as queuing lanes, and the other two lanes are defined as running lanes;
uniformly dividing each queuing lane into a plurality of parking spaces according to the occupied area and the preset distance of the transport vehicle, and obtaining the position information of each parking space;
and dividing the parking spaces of each queuing lane, dividing the parking space at one end far away from the designated area into a third waiting area, dividing the parking space at one end close to the designated area into a first waiting area, and dividing the parking space at the middle part into a second waiting area.
7. The scheduling method of claim 6 wherein the number of slots in said third waiting area and said first waiting area on each of said queuing lanes is 1.
8. The scheduling method of claim 6 wherein said vehicles are sequentially arranged along said empty slots of said queuing lane, and in said second determining step, said vehicle management system controls said vehicles behind said empty slots of said second waiting area to sequentially move forward until said vehicles behind said empty slots move to said empty slots of said second waiting area.
9. The scheduling method of claim 6 wherein in the first determining step, if there is at least one vehicle between the entering-order compliant vehicle and the vacant parking space in the first waiting area along the extending direction of the queuing lane, the vehicle management system controls the entering-order compliant vehicle to travel to the vacant parking space in the first waiting area via the traveling lane.
10. A computer-readable storage medium having instructions stored thereon, which when executed on a computer, cause the computer to perform the method of any one of claims 1 to 9.
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