CN113408773A

CN113408773A - Transport vehicle charging scheduling control method and device

Info

Publication number: CN113408773A
Application number: CN202010183961.6A
Authority: CN
Inventors: 黄可杰
Original assignee: Alibaba Group Holding Ltd
Current assignee: Hema China Co Ltd
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2021-09-17

Abstract

The embodiment of the application discloses a method and a device for controlling charging scheduling of a transport vehicle, wherein the method comprises the following steps: acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, wherein the transport vehicles are used for driving among different functional areas of the target space place and executing tasks distributed by a business system related to the target space place; determining the electric quantity remaining degree category to which the transport vehicle belongs according to the remaining electric quantity information and the classification threshold value of the electric quantity remaining degree category; and performing charging scheduling on the transport vehicle according to the type of the electric quantity surplus degree. By the embodiment of the application, the state of the transport vehicle can be used for more effectively guaranteeing the operation of the service system.

Description

Transport vehicle charging scheduling control method and device

Technical Field

The application relates to the technical field of automatic conveying, in particular to a method and a device for controlling charging scheduling of a transport vehicle.

Background

Under the online and offline combined commodity object information service mode such as 'new retail', the entity shop can be paved online, and the online information service capability is combined, so that more comprehensive and more convenient service is provided for the user. The type of off-line physical store can be many, including supermarkets, restaurants, and the like. The online restaurant service in the new retail mode can provide dining service for the user, the user can make an online order through a related application program on the line, and can select to have a meal to go to the gate, or go to a store for a meal, or directly order the meal in the store, and the like. The dining process of the restaurant can be different from that of the traditional restaurant in various links, and the difference comprises 'unattended' in various links. For example, a consumer user can order and settle accounts by self, can directly urge dishes to a kitchen without the need of a waiter to transfer the dishes, and can know the making progress of the dishes in real time without the need of calling the waiter to ask for help. In addition, after the kitchen finishes processing specific food, the food can be delivered from the food outlet to the table position in a robot food delivery mode without manual service, and the like.

In the specific implementation of the food delivery by the robot, a robot car such as an Automated Guided Vehicle (AGV) may be used as a transport means, that is, the food prepared in the kitchen may be delivered to the AGV by the task distribution system, and the food delivery task may be distributed to the AGV by the task distribution system and transported to a specific table by the AGV. In order to avoid the conditions of collision with pedestrians in a restaurant and the like and to facilitate the control of the running route of the AGV, the AGV lanes can be laid in the restaurant, and meanwhile, the lanes can also be used for specific tables, and the purpose of delivering food to the target tables is achieved by controlling the AGV to run on the lanes.

The AGV usually uses a rechargeable battery as an energy source, and during the process of the AGV performing food delivery and other tasks, the AGV often has no power or insufficient power. In the prior art, when finding that a certain AGV is out of power or the power is about to be exhausted, the AGV needs to be manually transferred to a charging device for charging. However, the number of charging devices installed in places such as restaurants is usually limited, the number of AGV carts is usually large, and the batteries equipped for the AGV carts do not support the rapid charging technology, so that if the situation that the AGV carts are out of power cannot be found in time, the situation that no cars are available in a specific service system may occur for a long time, which may affect the normal operation of the service system.

Therefore, how to make the state of the transport vehicle more effectively guarantee the operation of the service system in the process of executing the automatic transportation task by the transport vehicle in the form of AGV or the like becomes a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The application provides a method and a device for controlling charging scheduling of a transport vehicle, which can enable the state of the transport vehicle to more effectively guarantee the operation of a service system.

The application provides the following scheme:

a transport vehicle charging scheduling control method comprises the following steps:

acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, wherein the transport vehicles are used for driving among different functional areas of the target space place and executing tasks distributed by a business system related to the target space place;

determining the electric quantity remaining degree category to which the transport vehicle belongs according to the remaining electric quantity information and the classification threshold value of the electric quantity remaining degree category;

and performing charging scheduling on the transport vehicle according to the type of the electric quantity surplus degree.

the method comprises the steps that a transport vehicle submits residual electric quantity information to a server, so that the server determines an electric quantity residual degree category to which the transport vehicle belongs according to the residual electric quantity information and a classification threshold value of the electric quantity residual degree category, and carries out charging scheduling on the transport vehicle according to the electric quantity residual degree category; the transport vehicle is used for driving among different functional areas of a target space place and executing tasks distributed by a business system related to the target space place;

and according to the charging scheduling information provided by the server, driving to a charging area of the target space place to charge or finishing charging.

acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, wherein the transport vehicles are used for executing tasks distributed by a business system related to the target space place;

determining a traffic busyness pre-estimated value of a traffic system associated with the target space site in a time period corresponding to the current scheduling cycle;

dynamically determining a classification threshold value of the category of the surplus power of the electric quantity according to the traffic busyness pre-estimated value;

determining the type of the remaining electric quantity of the transport vehicle according to the remaining electric quantity information and the classification threshold;

A transportation vehicle charging scheduling control apparatus comprising:

the system comprises a residual electric quantity information acquisition unit, a residual electric quantity information acquisition unit and a residual electric quantity information acquisition unit, wherein the residual electric quantity information acquisition unit is used for acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, and the transport vehicles are used for driving among different functional areas of the target space place and executing tasks distributed by a business system related to the target space place;

the classification unit is used for determining the electric quantity surplus degree category to which the transport vehicle belongs according to the surplus electric quantity information and the classification threshold value of the electric quantity surplus degree category;

and the charging scheduling unit is used for scheduling the charging of the transport vehicle according to the type of the electric quantity surplus degree.

A transportation vehicle charging scheduling control apparatus comprising:

the electric quantity information submitting unit is used for submitting residual electric quantity information to a server so that the server can determine the electric quantity residual degree category to which the transport vehicle belongs according to the residual electric quantity information and the classification threshold value of the electric quantity residual degree category and carry out charging scheduling on the transport vehicle according to the electric quantity residual degree category; the transport vehicle is used for driving among different functional areas of a target space place and executing tasks distributed by a business system related to the target space place;

and the scheduling information receiving unit is used for driving to a charging area of the target space place to charge or finish charging according to the charging scheduling information provided by the server.

A transportation vehicle charging scheduling control apparatus comprising:

the system comprises a residual electric quantity information acquisition unit, a residual electric quantity information acquisition unit and a residual electric quantity information acquisition unit, wherein the residual electric quantity information acquisition unit is used for acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, and the transport vehicles are used for executing tasks distributed by a business system related to the target space place;

the service busyness pre-estimation unit is used for determining a service busyness pre-estimation value of a service system associated with the target space site in a corresponding time period of a current scheduling cycle;

a classification threshold dynamic determination unit, configured to dynamically determine a classification threshold of the power surplus class according to the traffic busy degree pre-estimation value;

the classification unit is used for determining the electric quantity remaining degree category to which the transport vehicle belongs according to the remaining electric quantity information and the classification threshold;

According to the specific embodiments provided herein, the present application discloses the following technical effects:

through this application embodiment, can classify the transport vechicle according to the remaining capacity information of specific transport vechicle, after determining the specific affiliated electric quantity surplus degree classification, can charge the dispatch to specific transport vechicle according to this. By the mode, automatic charging scheduling of the transport vehicles can be realized, the transport vehicles needing to be charged can be found in time, and charging is carried out in time, so that the operation of a business system can be guaranteed more effectively by the state of the transport vehicles.

In an optional real-time mode, the classification threshold corresponding to the specific electric quantity surplus degree category can be dynamically changed along with the predicted value of the business busyness degree of the business system, so that the number of transport vehicles in each category can be dynamically determined according to the predicted value of the business busyness degree, and balance is achieved between the fact that the transport vehicles are electrified and the fact that the transport vehicles can be scheduled in the business system is guaranteed.

In addition, when determining which transport vehicles need to be charged and which transport vehicles need to be moved away from a charging area, the real-time traffic busyness in a specific space place can be combined for determination. Under the conditions that the electric quantity of the transport vehicles needing to be charged is low and the number of the transport vehicles is large, some transport vehicles which are being charged can be replaced through a certain strategy, so that each transport vehicle has the opportunity to be charged, but the transport vehicles do not need to be fully charged at one time, and the electric quantity of the transport vehicles is gradually increased through multiple times of charging along with the lapse of time, and meanwhile, normal business is not influenced in the process. Under the condition that the real-time traffic busyness is low, more transport vehicles, including the transport vehicle with medium electric quantity, can be charged, so that the subsequent traffic scheduling is accepted in a state of more sufficient electric quantity.

Of course, it is not necessary for any product to achieve all of the above-described advantages at the same time for the practice of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application;

FIG. 2 is a flow chart of a first method provided by an embodiment of the present application;

FIG. 3 is a flow chart of a second method provided by embodiments of the present application;

FIG. 4 is a schematic diagram of a third method provided by embodiments of the present application;

FIG. 5 is a schematic diagram of a first apparatus provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a second apparatus provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a third apparatus provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a computer system provided by an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.

In the embodiment of the application, in order to enable the state of the transport vehicle to more effectively guarantee the operation of the business system, an automatic transport vehicle charging scheduling scheme is provided. In this scheme, an automated charging area may be first provided in a specific space location (e.g., a brick and mortar restaurant, a brick and mortar supermarket, etc.), and the charging area may provide charging equipment such as a charging pile. In addition, the transport vehicle can be automatically connected with the charging equipment after running to the charging equipment through corresponding transformation and the like of the transport vehicle, and enters a charging state without manual intervention. For example, a pair of charging contacts can be arranged on the body of each transport vehicle, a pair of charging contacts can be arranged on charging equipment such as a charging pile in a charging area of an entity place, and when the transport vehicle is charged, the transport vehicle can enter a charging state only by aligning the contact of the transport vehicle body with the contact of the charging pile, and the like.

With the support of the hardware aspect, the automatic charging scheduling of the transport vehicle can be realized. For example, the remaining power information of a plurality of transport vehicles in the target location may be periodically obtained by the scheduling server, and the remaining power category information of the power of the transport vehicle may be determined according to the remaining power information and the classification threshold, so that the specific transport vehicle may be scheduled for charging according to the category information. Because the transport vehicle can be automatically dispatched to charge according to the residual electric quantity condition of the specific transport vehicle, the process of charging the transport vehicle does not depend on operations such as manual discovery and transfer, the transport vehicle can be charged more timely, and the normal operation of a service system can be better guaranteed.

There are various ways for classifying the remaining level of the electric power of the transportation vehicle, for example, in one way, the classification can be simply divided into two categories, one category is low electric power and needs to be charged, and the other category is high electric power and does not need to be charged, and the classification threshold of the specific category can also be fixed, for example, when the remaining electric power is lower than 20%, the low electric power is considered, the charging is needed, and when the remaining electric power is higher than 20%, the high electric power is considered, and the charging is not needed. Accordingly, the transport vehicle, in particular in the charging state, may also end the charging when a fixed threshold value is reached, for example, when 80% or 100% of the charge is reached, and so on.

However, in the process of implementing the embodiment of the present application, the inventor of the present application finds that some problems may occur if the above-mentioned simple classification manner is adopted and it is determined whether the transportation vehicle needs to be charged and the charging needs to be stopped. For example, first, if the remaining capacity of the transportation vehicles is simply divided into two categories and the classification threshold is fixed, the transportation vehicles that need to be charged at the same time or in the scheduling period may be more, and the number of charging devices in a specific spatial location is often limited and much less than the number of transportation vehicles, in which case a large number of transportation vehicles may be in a state of waiting for charging and cannot be scheduled by the service system. When the business system is busy, the task backlog in the business system may be caused, which may further affect the on-time performance of the order, and so on.

For this reason, in the preferred embodiment of the present application, the transportation vehicles may be classified in a finer granularity, different categories may correspond to different charging priorities and traffic scheduling priorities, and the charging priorities and the traffic scheduling priorities may be opposite for the same category. Therefore, the transport vehicle with the highest charging priority can be charged preferentially, and the dispatching of the service system is stopped temporarily, so that the condition that the transport vehicle is exhausted is avoided. And the transport vehicle with the charging priority not too high can not run out of electric quantity in a short time, so that whether charging is needed or not or the scheduling of a service system is received can be determined according to the actual situation. By the mode, the number of the transport vehicles in the same category can be reduced theoretically, a large number of transport vehicles are prevented from entering a state needing charging at the same time, and meanwhile, the transport vehicles with the electric quantity not too low can be continuously scheduled by the service system, so that balance is achieved between the fact that the transport vehicles keep points and the fact that the transport vehicles can be scheduled by the service system. In addition, the classification threshold of a specific class may also be dynamically changed in a preferred embodiment, and the specific change may be according to the traffic busyness of the traffic system. That is, for the same quantity of electric power, the vehicles may be classified into different categories of remaining quantity of electric power in case of different busyness of the traffic system. Therefore, the classification of specific categories can be dynamically adjusted according to the busyness of the service system, for example, when the busyness of the service system is higher, the classification threshold of low-power categories can be reduced, fewer transport vehicles are classified into the low-power categories, and then fewer transport vehicles are scheduled to enter a charging state, so that more transport vehicles in the service system can be scheduled. When the traffic system is less busy, the classification threshold of some or all of the categories may be increased, so that more vehicles may be scheduled to enter the charging state. That is, in a time period when the service is relatively less busy, more transport vehicles can be charged, so that after the subsequent service system is in a busy state, more transport vehicles can be kept in a state of sufficient electric quantity, and the normal and efficient operation of the service system is more powerfully guaranteed.

In addition, after the specific classification of the transport vehicles is completed, when it is determined which transport vehicles need to be charged and which transport vehicles need to be charged, dynamic determination can be performed according to the busyness of the service system. Of course, the busy level at this time may specifically refer to a real-time busy level of the service system.

Specifically, from the perspective of system architecture, as shown in fig. 1, the embodiment of the present application may mainly provide a charging scheduling server, and the server performs classification of transportation vehicle categories and specific charging scheduling according to information such as remaining capacity of a specific transportation vehicle. In addition, in practical application, a specific charging scheduling server may interact with a server of the service system, for example, after a certain transport vehicle is set to a charging-required state, the server of the service system may be notified, so that the service of the service system no longer allocates a delivery task to the transport vehicle, and so on. Moreover, the service end of the service system can also provide information such as historical single quantity, single quantity distribution and the like in a specific space place to the charging scheduling service end, so that the charging scheduling service end can estimate the service busyness in a specific scheduling period according to the information such as the historical single quantity, the single quantity distribution and the like, and further determine classification threshold values of various categories in the specific scheduling period according to the estimated values, and the like.

The following describes in detail specific implementations provided in embodiments of the present application.

Example one

First, in the embodiment, from the perspective of the charging scheduling service end, a method for controlling the charging scheduling of the transportation vehicle is provided, and referring to fig. 2, the method may specifically include:

s210: acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, wherein the transport vehicles are used for driving among different functional areas of the target space place and executing tasks distributed by a business system related to the target space place;

first, the remaining power information of the multiple transportation vehicles associated with the target space location may be obtained, and the obtaining of the remaining power information of the multiple transportation vehicles associated with the target space location may be performed according to a specific task, for example, may be obtained according to a preset scheduling period. The specific scheduling period may depend on actual requirements, for example, it may be every hour, etc. In each scheduling period, the server can obtain the residual electric quantity information of all transport vehicles in the space place. During specific implementation, the transport vehicle can report the residual electric quantity information of the transport vehicle automatically, or the server side can pull the specific residual electric quantity information from the transport vehicle.

The target space places described in the embodiments of the present application may be various, and may be restaurants described in the background section, business and super-business entity stores, and the like. A particular transporter may be a "robotic" device that performs a particular transport task in a particular spatial location. The space place can comprise a plurality of different functional areas, and the transport vehicle can run among the different functional areas to complete tasks distributed by specific service systems. For example, for a brick and mortar restaurant, the different functional areas may include a meal outlet area and a meal area, and the transportation cart may be used to deliver meals from the meal outlet to the meal area, or to retrieve dishes from the meal area, and so on. At this time, a traffic lane may be laid between the specific meal outlet area and the meal area, and the transport vehicle may perform a specific task by traveling on such a traffic lane. In addition, for a physical store, since the order can be shipped on-line, the different functional areas in such a physical store may generally refer to the pick area and the packing area in the store. After an online order is received, a plurality of picking tasks can be generated, after a picker finishes picking, a specific package can be conveyed to a packaging area through a transport vehicle, and the delivery is waited after the packer finishes packaging. In this case, a track may be assumed overhead between the picking area and the packing area, and a specific vehicle performs a specific task by traveling on such an overhead track.

Wherein, a space location may be associated with a specific business system, for example, a restaurant, a physical store, etc. may be associated with an order system, etc. The mission information for a particular vehicle may be distributed by the service of a particular business system. The tasks of the service end mainly come from the delivery tasks of a service scheduling party and the tasks generated by the service end in the management of the transport vehicles, the scheduling of the transport vehicles exists in the dimension of the tasks every time, and the scheduling process of the service end is essentially the process of continuously consuming the tasks.

In addition, when the specific implementation is performed, the specific server may further implement the following functions:

and (3) routing algorithm: and the server calculates the running route of each transport vehicle from the initial position to the final position according to the current real-time positions of all the transport vehicles.

Traffic management: the server dynamically dispatches the transport vehicle to a certain position according to the state of the transport vehicle on the current lane, and locks a certain area in time when the transport vehicle is abnormally stopped; meanwhile, the route is immediately and dynamically adjusted, and collision or traffic jam of the transport vehicle is prevented.

Map management: the service end can edit and configure the operation map of the management transport vehicle and dynamically and synchronously provide the map of the corresponding scheduling route for each transport vehicle during each path scheduling.

Managing a transport vehicle: the service end can control the activation and deactivation of each transport vehicle, the control of the cover, the sound, the lamp tubes and the like, and the related operation configuration of the transport vehicle.

In addition, in the embodiment of the application, the service end can also realize a charging scheduling function, and specifically, the service end can trigger the execution of the charging scheduling algorithm through a timing task, so as to schedule the transport vehicle to execute the charging task or to tune away from a charging area. In a specific implementation, the scheduling process may be dynamic flexible scheduling according to the load capacity, the traffic busyness, and the like of the transport vehicle traffic system. This will be described in detail later.

S220: determining the electric quantity remaining degree category to which the transport vehicle belongs according to the remaining electric quantity information and the classification threshold value of the electric quantity remaining degree category;

for example, as described above, in a simple manner, the transportation vehicles may be directly divided into two categories, and the classification threshold may be a preset fixed value. Alternatively, in a preferred embodiment of the present application, the specific classification threshold may be dynamically changed according to a predicted value of traffic busyness of the traffic system associated with the target spatial location. And the traffic busyness pre-estimated value is determined according to the historical order quantity statistical information in the same time period. For example, according to the history information, the order volume of a certain restaurant in every Monday is relatively small, and the overall business busyness is low; in addition, according to more detailed historical statistical information, the order distribution situation corresponding to different time periods in a certain day of the week and the like can be more accurately known. Therefore, the traffic busyness in a specific scheduling period can be estimated according to the historical statistical data, and the specific estimated value can be used for dynamically determining the classification threshold of the specific electric quantity surplus degree category.

That is to say, at the beginning of each scheduling period, a classification threshold of a specific category of the remaining power of the electric quantity may be dynamically determined according to a predicted value of the traffic busyness in the scheduling period, and then a category to which a specific transport vehicle belongs may be determined according to the remaining power of the specific transport vehicle and the dynamically determined classification threshold.

In one mode, if the traffic busyness of the traffic system is higher than the busyness threshold, the classification threshold can be increased, so that more transport vehicles enter a state needing to be charged, or the transport vehicles obtain longer charging time; otherwise the classification threshold is lowered so that more vehicles can be dispatched by the traffic system. When the classification threshold is increased or decreased, the classification threshold of some or all of the classes may be increased or decreased according to specific situations.

In this way, the transport vehicles with the same residual capacity can be classified into different categories according to different traffic busyness. For example, when the remaining capacity of a certain transport vehicle is 30%, the transport vehicle may be classified into a category having the highest charging priority when the traffic intensity is low, and the transport vehicle may be classified into a category having the next highest charging priority when the traffic intensity is high, and the transport vehicle having the highest priority may be set to the charging-required state after waiting for the transport vehicle having the highest priority to be scheduled. By the method, more transport vehicles can be scheduled by the service system for executing specific tasks when the service busyness is higher; when the business is busy, more transport vehicles can be scheduled to perform charging, so that more transport vehicles can serve the business in a busy state in a more sufficient electric quantity state.

S230: and performing charging scheduling on the transport vehicle according to the type of the electric quantity surplus degree.

After the specific type of the remaining electric quantity is determined, the specific transport vehicle can be charged and scheduled by using the information. The specific charging schedule may include scheduling a number of vehicles to charge the charging area, and may also schedule a number of vehicles to leave the charging area, and so on.

In the specific implementation process, in addition to considering the category information of the electric quantity surplus degree of the transport vehicle, the comprehensive determination can be performed by combining specific information of the business busyness degree in the process of performing charging scheduling. The traffic busy degree at this time may refer to real-time traffic busy degree information in a specific space location. That is, when determining the dynamic classification threshold, classification needs to be performed at the beginning of the scheduling cycle, so the determination is mainly performed according to an estimated value of traffic busyness of a specific scheduling cycle, and the estimated value is mainly determined according to information such as a historical single quantity in the same time period. After the category of the transport vehicle is determined, which transport vehicles need to go to the charging area for charging and which transport vehicles need to be transferred away from the charging area are determined according to the real-time business busyness in a specific space place. The real-time traffic busyness information can be determined according to the real-time order quantity received in a specific space place, or information such as the generated conveying task quantity, the number information of the currently available transport vehicles and the like. That is to say, in specific implementation, it may be determined whether the transport vehicle needs to be charged and whether charging is finished according to the category of the remaining electric quantity and the real-time business busyness information of the business system associated with the target space location.

In a specific implementation, as described above, in order to balance between the situation that the transportation vehicle keeps the power and the situation that the transportation vehicle can be called by the business system, the category of the remaining power of the electric quantity can be divided into a plurality of categories. For example, the specific examples may include a first category in which the charging is performed with priority and the power is insufficient, a second category in which the charging is performed with priority and the power is medium, and a third category in which the charging is not performed with priority and the power is sufficient. The first category and the second category may be scheduled to a charging area for charging, and may be determined according to a real-time traffic busyness and the like. The third category of transport vehicles need not be charged, and the transport vehicles being charged can be directly transferred away from the charging area after being classified into the third category. Of course, the classification thresholds of the various classes may vary with the predicted value of the traffic busyness, and thus, the specific vehicles that need to be charged and the specific vehicles that need to be moved away from the charging area may be determined according to actual situations.

In addition, during specific implementation, in order to further achieve balance between the fact that the transport vehicle has electricity and can be dispatched by a service system, finer-grained division can be performed. For example, the first category where the amount of electricity is insufficient and charging is prioritized may be further subdivided into: a dead charge category and a low charge category; at this time, specifically, when the transportation vehicles are scheduled to be charged, the transportation vehicles of the empty electric quantity category may be directly determined as the transportation vehicles that need to be charged immediately, the transportation vehicles of the low electric quantity category may be determined as the state in which the operation system scheduling is stopped, and after the empty electric quantity transportation vehicles finish scheduling, the transportation vehicles of the low electric quantity category may be determined as the transportation vehicles that need to be charged.

The second category, which is medium in power and preferentially scheduled by the traffic system, may be further subdivided into: a suggested charging category and a greedy charging category; specifically, when a transport vehicle is scheduled to be charged, if no transport vehicle of the first category needs to be charged and the real-time business busyness is lower than a busyness threshold, the transport vehicle of the suggested charging category can be determined as the transport vehicle needing to be charged; in addition, if no transport vehicle of the first category and the suggested charging category needs to be charged and the business system is in an idle state, the transport vehicle of the greedy charging category can be determined as the transport vehicle needing to be charged.

The specific determination of which vehicles to divert away from the charging area may also be contingent upon the specific circumstances. For example, if there is a vehicle of the third category among the vehicles currently in a charging state, the charging process thereof may be directly ended and tuned away from the charging area.

In addition, in the case that the number of the transportation vehicles which need to be charged currently is large, since the number of the charging devices is limited and relatively small, if all the transportation vehicles are not transferred from the charging area after entering the third category, a large number of transportation vehicles which need to be charged may wait. For this reason, in the embodiment of the present application, the state information of the charging device in the target space location may also be acquired; if the number of the transport vehicles needing to be charged currently is larger than the number of the charging devices in the available state, the transport vehicles which can be charged can be determined from the transport vehicles in the charging state according to the real-time business busyness information, so that the transport vehicles needing to be charged currently can be scheduled for charging.

That is to say, in the embodiment of the present application, after a transport vehicle is scheduled to the charging area for charging, the transport vehicle may not be constantly charged to the extent that the transport vehicle can be classified into the third category and then tuned away, but may be dynamically determined according to the number of transport vehicles that actually need to be charged and the traffic busyness. For example, if the transport vehicle which needs to be charged currently is the transport vehicle in the first category, and the real-time traffic busy degree is higher than the busy degree threshold value, the transport vehicle with the highest electric quantity in the transport vehicles which can be in the charging state is determined as the transport vehicle which can be charged. That is, if the electric quantity of the transportation vehicle needing to be charged is already low, the charging requirement is urgent, and the traffic busyness is high, so that more transportation vehicles need to be released to be called by the service system. Therefore, one or more transport vehicles with the highest electric quantity in the currently charged transport vehicles can be directly transferred to the charging area without waiting, so that the transport vehicles with the lower electric quantity which need to be charged can enter the charging state in time, and the transport vehicles transferred to the charging area can be scheduled by the service system in time for executing specific conveying tasks.

If the real-time traffic busyness is lower than a busyness threshold, a replacement threshold corresponding to the electric quantity surplus degree category to which the current transport vehicle needing to be charged belongs can be determined; if the higher charge of the currently charging transporter is above the replacement threshold, the higher charge may be determined to be the ending chargeable transporter. That is, if the number of the transportation vehicles needing to be charged is large, but the current service system is not busy, and the demand for the transportation vehicles is not large, therefore, the transportation vehicles needing to be charged can not be called away urgently, but can be called away from the charging area after the electric quantity of the transportation vehicles with higher electric quantity is higher than the replacement threshold value, and meanwhile, the transportation vehicles needing to be charged are dispatched to the charging area for charging.

In a specific implementation, the charging requirement of the transport vehicle with a lower electric quantity is relatively urgent, and therefore, the replacement threshold corresponding to the first category may be a fixed value. For example, the empty charge category may correspond to a permutation threshold of 12%, while the low charge category may correspond to a permutation threshold of 20%, and so on. Thus, if a certain transport vehicle needing to be charged is in the empty electric quantity category, the transport vehicle can be transferred out of the charging area only after at least one electric quantity in the transport vehicles needing to be charged is higher than 12%, otherwise, the transport vehicle needing to be charged can wait for a period of time and then enter the charging area for charging.

By the method, under the condition that the number of the transport vehicles needing to be charged is large, each transport vehicle can enter the charging area to be charged, and each transport vehicle can be charged a little, so that the electric quantity of each transport vehicle can not be exhausted. In this way, the transport vehicle can be made to be gradually charged and the operation of the service system is not affected.

For vehicles with a medium charge, most of the vehicles being charged may have a lower current charge than the second type of vehicle, since the charging requirement is not very urgent and the charging vehicle may have just entered the charging state from an empty or low charge state. For this reason, for the second category, the corresponding replacement threshold may be a preset multiple of the remaining capacity of the transportation vehicles of the suggested charging category currently requiring charging. For example, it may be 2.5 times. That is, assuming that the current remaining capacity of a certain transport vehicle is 30% and belongs to the second category, if there is a transport vehicle with a capacity higher than 75% in the transport vehicles currently being charged and the current traffic busyness is low, the transport vehicle being charged may be dispatched to the charging area, and the transport vehicle needing to be charged is dispatched to the charging area for charging, and so on.

That is, for the second category of transportation vehicles, since the charging requirement is not very urgent, the corresponding replacement condition can be relatively harsh, so that in a general situation, the transportation vehicle being charged cannot be easily replaced, and the second category of transportation vehicles is scheduled to be charged only when the transportation vehicle being charged really has obtained a relatively high amount of electricity, the traffic is not too busy, and the requirement on the number of the transportation vehicles is not very large. Therefore, under the condition that the business system can be scheduled by more transport vehicles, when the busyness of the business system is lower, even the transport vehicles with not too low electric quantity can be charged with opportunity, so that the subsequent business scheduling can be accepted in a state of more sufficient electric quantity.

During specific implementation, the server side can also determine whether the transport vehicle can accept service scheduling according to the type of the remaining degree of the electric quantity of the transport vehicle and the real-time service busyness information of the service system associated with the target space location, and notify the service system. In this way, the service system can determine whether to assign a specific delivery task to the corresponding transport vehicle according to the specifically received notification information.

As described above, the embodiments of the present application can have a variety of different application scenarios. The target space place can comprise a physical restaurant, the different functional areas can comprise a meal outlet area and a meal area in the physical restaurant, and the tasks distributed by the business system comprise a meal delivery task or a tableware recovery task.

Alternatively, the target space location comprises a physical store, the different functional areas may comprise a picking area and a packing area in the physical store, and the tasks allocated by the business system comprise package conveying tasks from the picking area to the packing area. Wherein, can erect the track between the district of picking the goods and packing area, specific transport vechicle can travel along specific track to accomplish specific transport task.

In addition, the target space location may also include an entity warehouse, in this case, the different functional areas may specifically include a shelf area and an entrance/exit area in the entity warehouse, and the tasks allocated by the business system may include: an racking job from the entrance area to the racking area, or a package transfer job from the racking area to the exit area.

Furthermore, the transport vehicle may be an AGV or the like, and may also include an unmanned electric vehicle, in this case, the target space site may include a construction site, specific different functional areas may include a material storage area and a material use area of the construction site, and tasks allocated by the business system include a task of conveying materials from the material storage area to the material use area, and the like.

In a word, through this application embodiment, can classify the transport vechicle according to the remaining capacity information of specific transport vechicle, after determining the specific electric quantity surplus degree classification that belongs to, can carry out the scheduling of charging to specific transport vechicle according to this. By the mode, automatic charging scheduling of the transport vehicles can be realized, the transport vehicles needing to be charged can be found in time, and charging is carried out in time, so that the operation of a business system can be guaranteed more effectively by the state of the transport vehicles.

Example two

The second embodiment corresponds to the first embodiment, and provides a method for controlling a charging schedule of a transport vehicle from the perspective of the transport vehicle, which may specifically include:

s310: the method comprises the steps that a transport vehicle submits residual electric quantity information to a server, so that the server determines an electric quantity residual degree category to which the transport vehicle belongs according to the residual electric quantity information and a classification threshold value of the electric quantity residual degree category, and carries out charging scheduling on the transport vehicle according to the electric quantity residual degree category; the transport vehicle is used for driving among different functional areas of a target space place and executing tasks distributed by a business system related to the target space place;

s320: and according to the charging scheduling information provided by the server, driving to a charging area of the target space place to charge or finishing charging.

EXAMPLE III

In the third embodiment, another method for controlling the charging schedule of the transportation vehicle is provided from the service-side perspective, and the method focuses on the dynamic adjustment of the classification threshold, specifically, referring to fig. 4, the method may specifically include:

s410: acquiring residual electric quantity information of a plurality of transport vehicles related to a target space place, wherein the transport vehicles are used for executing tasks distributed by a business system related to the target space place;

s420: determining a traffic busyness pre-estimated value of a traffic system associated with the target space site in a time period corresponding to the current scheduling cycle;

s430: dynamically determining a classification threshold value of the category of the surplus power of the electric quantity according to the traffic busyness pre-estimated value;

s440: determining the type of the remaining electric quantity of the transport vehicle according to the remaining electric quantity information and the classification threshold;

s450: and performing charging scheduling on the transport vehicle according to the type of the electric quantity surplus degree.

For the parts that are not described in detail in the second embodiment and the third embodiment, reference may be made to the description in the first embodiment, and details are not repeated here.

Corresponding to the first embodiment, the embodiment of the present application further provides a transportation vehicle charging schedule control apparatus, referring to fig. 5, the apparatus may include:

a remaining power information obtaining unit 510, configured to obtain remaining power information of multiple transportation vehicles associated with a target space location, where the transportation vehicles are configured to travel between different functional areas of the target space location and execute tasks allocated by a service system associated with the target space location;

a classification unit 520, configured to determine an electric quantity remaining degree category to which the transport vehicle belongs according to the remaining electric quantity information and a classification threshold of the electric quantity remaining degree category;

a charging scheduling unit 530, configured to schedule charging of the transportation vehicle according to the category of the remaining power level.

And the classification threshold value is dynamically changed along with the predicted value of the business busyness of the business system related to the target space place.

If the business busyness of the business system is higher than a busyness threshold, the classification threshold is increased, so that more transport vehicles enter a state needing to be charged, or the transport vehicles obtain longer charging time; otherwise the classification threshold is lowered so that more vehicles can be dispatched by the traffic system.

And the traffic busy degree pre-estimated value is determined according to the historical order quantity statistical information in the same time period.

The charging scheduling unit may specifically be configured to:

and determining whether the transport vehicle needs to be charged and whether the charging is finished according to the category of the surplus degree of the electric quantity and the real-time business busyness information of the business system associated with the target space place.

The electric quantity remaining degree categories comprise a first category with insufficient electric quantity and priority for charging, a second category with medium electric quantity and priority for being scheduled by a service system, and a third category with sufficient electric quantity and no need for charging.

Specifically, the first category in which the electric quantity is insufficient and charging is preferentially performed includes: a dead charge category and a low charge category;

the charging scheduling unit may specifically be configured to:

determining the transport vehicle of the empty electric quantity category as a transport vehicle needing to be charged immediately;

and determining the low-electric-quantity type transport vehicle as a transport vehicle needing to be charged after the low-electric-quantity type transport vehicle stops receiving the dispatching of the service system and waiting for the empty-electric-quantity transport vehicle to finish dispatching.

In addition, the second category of medium electric quantity and priority scheduling by the service system includes: a suggested charging category and a greedy charging category;

the charging scheduling unit may specifically be configured to:

if no transport vehicle of the first category needs to be charged and the real-time traffic busyness is lower than a busyness threshold value, determining the transport vehicle of the suggested charging category as a transport vehicle needing to be charged;

and if the transport vehicles of the first category and the suggested charging category do not need to be charged and the business system is in an idle state, determining the transport vehicles of the greedy charging category as the transport vehicles needing to be charged.

In addition, the charging scheduling unit may specifically be configured to:

and if the transport vehicles in the third category exist in the transport vehicles currently in the charging state, ending the charging process.

The charging scheduling unit may specifically be configured to:

acquiring state information of the charging equipment in the target space place; and if the number of the transport vehicles needing to be charged currently is larger than that of the charging equipment in the available state, determining the transport vehicles capable of finishing charging from the transport vehicles in the charging state according to the real-time business busyness information so as to schedule the transport vehicles needing to be charged currently for charging.

If the current transport vehicle needing to be charged is the transport vehicle of the first category and the real-time business busyness is higher than the busyness threshold value, determining the transport vehicle with the highest electric quantity in the transport vehicles in the charging state as the transport vehicle capable of finishing charging.

If the real-time business busyness is lower than a busyness threshold, determining a replacement threshold corresponding to the electric quantity surplus degree category to which the current transport vehicle needing to be charged belongs; if the charge of the higher charge of the currently charging transporter is higher than the replacement threshold, determining the higher charge as the transport vehicle which can finish charging.

Wherein, the permutation threshold corresponding to the first category is a fixed value; the permutation threshold corresponding to the second category comprises: and the preset multiple of the residual electric quantity of the transport vehicle of the suggested charging category which needs to be charged currently.

In a specific implementation, the apparatus may further include:

and the notification unit is used for determining whether the transport vehicle can accept service scheduling or not according to the type of the surplus degree of the electric quantity of the transport vehicle and the real-time service busyness information of the service system associated with the target space location, and notifying the service system.

The target space place comprises a physical restaurant, the different functional areas comprise a meal outlet area and a meal area in the physical restaurant, and tasks distributed by the business system comprise a meal delivery task or a tableware recovery task.

Or, the target space place comprises a physical store, the different functional areas comprise a picking area and a packing area in the physical store, and the tasks distributed by the business system comprise package conveying tasks from the picking area to the packing area.

Alternatively, the target space site includes a physical warehouse, the different functional areas include a shelf area and an entrance/exit area in the physical warehouse, and the tasks assigned by the business system include a racking task from the entrance area to the shelf area or a package delivery task from the shelf area to the exit area.

Or, the transport vehicle comprises an unmanned electric automobile, the target space place comprises a construction site, the different functional areas comprise a material storage area and a material using area of the construction site, and the tasks distributed by the business system comprise a material conveying task from the material storage area to the material using area.

Corresponding to the second embodiment, the embodiment of the present application further provides a transportation vehicle charging scheduling control apparatus, referring to fig. 6, the apparatus may include:

the electric quantity information submitting unit 610 is configured to submit remaining electric quantity information to a server, so that the server determines an electric quantity remaining degree category to which the transport vehicle belongs according to the remaining electric quantity information and a classification threshold of the electric quantity remaining degree category, and performs charging scheduling on the transport vehicle according to the electric quantity remaining degree category; the transport vehicle is used for driving among different functional areas of a target space place and executing tasks distributed by a business system related to the target space place;

and a scheduling information receiving unit 620, configured to drive to a charging area of the target space location for charging or end charging according to the charging scheduling information provided by the server.

Corresponding to the three phases of the embodiment, the embodiment of the present application further provides a transportation vehicle charging scheduling control device, referring to fig. 7, the device may specifically include:

a remaining power information obtaining unit 710, configured to obtain remaining power information of multiple transportation vehicles associated with a target space location, where the transportation vehicles are used to perform tasks allocated by a business system associated with the target space location;

a traffic busyness pre-estimating unit 720, configured to determine a traffic busyness pre-estimated value of the traffic system associated with the target space location in a time period corresponding to the current scheduling cycle;

a classification threshold dynamic determination unit 730, configured to dynamically determine a classification threshold of the power surplus class according to the traffic busy degree pre-estimation value;

the classification unit 740 is configured to determine the category of the remaining power of the electric quantity to which the transportation vehicle belongs according to the remaining power information and the classification threshold;

and a charging scheduling unit 750, configured to schedule charging of the transportation vehicle according to the category of the remaining power.

In addition, the present application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method of any of the preceding method embodiments.

And a computer system comprising:

one or more processors; and

a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform the steps of the method of any of the preceding method embodiments.

FIG. 8 illustrates an architecture of a computer system that may include, in particular, a processor 810, a video display adapter 811, a disk drive 812, an input/output interface 813, a network interface 814, and a memory 820. The processor 810, the video display adapter 811, the disk drive 812, the input/output interface 813, the network interface 814, and the memory 820 may be communicatively connected by a communication bus 830.

The processor 810 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solution provided by the present Application.

The Memory 820 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 820 may store an operating system 821 for controlling operation of the electronic device 800, a Basic Input Output System (BIOS) for controlling low-level operation of the electronic device 800. In addition, a web browser 823, a data storage management system 824, and a charging schedule processing system 825, and the like may also be stored. The charging schedule processing system 825 may be an application program that implements the operations of the foregoing steps in this embodiment of the application. In summary, when the technical solution provided in the present application is implemented by software or firmware, the relevant program codes are stored in the memory 820 and called for execution by the processor 810.

The input/output interface 813 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The network interface 814 is used for connecting a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).

Bus 830 includes a pathway for communicating information between various components of the device, such as processor 810, video display adapter 811, disk drive 812, input/output interface 813, network interface 814, and memory 820.

It should be noted that although the above-mentioned devices only show the processor 810, the video display adapter 811, the disk drive 812, the input/output interface 813, the network interface 814, the memory 820, the bus 830, etc., in a specific implementation, the devices may also include other components necessary for normal operation. Furthermore, it will be understood by those skilled in the art that the apparatus described above may also include only the components necessary to implement the solution of the present application, and not necessarily all of the components shown in the figures.

From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The method and the device for controlling the charging scheduling of the transport vehicle provided by the application are introduced in detail, a specific example is applied in the text to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific embodiments and the application range may be changed. In view of the above, the description should not be taken as limiting the application.

Claims

1. A transport vehicle charging scheduling control method is characterized by comprising the following steps:

2. The method of claim 1,

the classification threshold value is dynamically changed along with the predicted value of the traffic busyness of the traffic system associated with the target space site in the corresponding time period.

3. The method of claim 2,

4. The method of claim 2,

5. The method of claim 1,

the scheduling of charging to the transport vechicle according to the electric quantity surplus degree category includes:

6. The method of claim 5,

the electric quantity remaining degree category is multiple, and comprises a first category which is insufficient in electric quantity and is preferentially charged, a second category which is medium in electric quantity and is preferentially scheduled by a service system, and a third category which is sufficient in electric quantity and is not required to be charged.

7. The method of claim 6,

the first category in which the electric power is insufficient and charging is preferentially performed includes: a dead charge category and a low charge category;

the determining whether the transport vehicle needs to be charged and whether to finish charging includes:

8. The method of claim 6,

the second category of the medium electric quantity and the priority scheduled by the service system comprises: a suggested charging category and a greedy charging category;

9. The method of claim 6,

10. The method of claim 5,

the determining whether the transport vehicle finishes charging includes:

acquiring state information of the charging equipment in the target space place;

and if the number of the transport vehicles needing to be charged currently is larger than that of the charging equipment in the available state, determining the transport vehicles capable of finishing charging from the transport vehicles in the charging state according to the real-time business busyness information so as to schedule the transport vehicles needing to be charged currently for charging.

11. The method of claim 10,

the determining of the transport vehicles capable of finishing charging from the transport vehicles in the charging state according to the real-time traffic busyness information comprises the following steps:

and if the current transport vehicle needing to be charged is the transport vehicle of the first category and the real-time business busyness is higher than the busyness threshold value, determining the transport vehicle with the highest electric quantity in the transport vehicles in the charging state as the transport vehicle capable of finishing charging.

12. The method of claim 10,

if the real-time business busyness is lower than a busyness threshold, determining a replacement threshold corresponding to the electric quantity surplus degree category to which the current transport vehicle needing to be charged belongs;

if the charge of the higher charge of the currently charging transporter is higher than the replacement threshold, determining the higher charge as the transport vehicle which can finish charging.

13. The method of claim 12,

the replacement threshold corresponding to the first category is a fixed value;

the permutation threshold corresponding to the second category comprises: and the preset multiple of the residual electric quantity of the transport vehicle of the suggested charging category which needs to be charged currently.

14. The method according to any one of claims 1 to 13,

and determining whether the transport vehicle can accept service scheduling or not according to the type of the electric quantity surplus degree of the transport vehicle and the real-time service busyness information of the service system associated with the target space place, and informing the service system of the acceptable service scheduling.

15. The method according to any one of claims 1 to 13,

the target space place comprises a physical restaurant, the different functional areas comprise a meal outlet area and a meal area in the physical restaurant, and the tasks distributed by the business system comprise a meal delivery task or a tableware recovery task.

16. The method according to any one of claims 1 to 13,

the target space place comprises an entity store, the different functional areas comprise a picking area and a packing area in the entity store, and the tasks distributed by the business system comprise package conveying tasks from the picking area to the packing area.

17. The method according to any one of claims 1 to 13,

the target space site includes a physical warehouse, the different functional zones include a shelf area and an entrance/exit area in the physical warehouse, and the tasks assigned by the business system include a task of putting shelves from the entrance area to the shelf area or a task of delivering packages from the shelf area to the exit area.

18. The method according to any one of claims 1 to 13,

the transport vechicle includes unmanned electric automobile, the target space place includes the construction place, different functional areas include the material of construction place is deposited regional and the material is used regional, the task that the business system distributes includes from the material deposit district with to the regional material transport task of material use.

19. A transport vehicle charging scheduling control method is characterized by comprising the following steps:

20. A transport vehicle charging scheduling control method is characterized by comprising the following steps:

21. The utility model provides a transport vechicle scheduling controlling means that charges which characterized in that includes:

22. The utility model provides a transport vechicle scheduling controlling means that charges which characterized in that includes:

23. The utility model provides a transport vechicle scheduling controlling means that charges which characterized in that includes:

24. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 20.

25. A computer system, comprising:

one or more processors; and

a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform the steps of the method of any of claims 1 to 20.