CN114839996A - Vehicle scheduling planning method, system, equipment and medium for dynamic setting of port forbidden zone - Google Patents
Vehicle scheduling planning method, system, equipment and medium for dynamic setting of port forbidden zone Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a vehicle scheduling planning method, a system, equipment and a medium which are dynamically set aiming at a port forbidden zone, wherein an A-forbidden zone trigger source sets the forbidden zone; when the B-area processing module receives a forbidden zone signal from a trigger source, recording forbidden zone information, and marking a node in the forbidden zone in a map used by the scheduling planning module as 'no pass'; c, the dispatching planning module carries out dispatching planning on the automatic driving vehicle; d, triggering a source to release the forbidden zone by the forbidden zone; when the E-area processing module receives a forbidden zone signal from a trigger source, the forbidden zone information is removed, and a node in the forbidden zone in a map used by the scheduling planning module is marked as 'allowed to pass'; the method for scheduling and planning the automatic driving vehicle during the dynamic setting and releasing of the forbidden zone enables the automatic driving vehicle to dynamically adjust tasks and driving paths during the dynamic setting of the forbidden zone, thereby ensuring that wharf operation is automatically completed.
Description
Technical Field
The invention relates to the technical field of wharf automation operation, in particular to a vehicle scheduling planning method, a system, equipment and a medium for dynamic setting of a port forbidden zone.
Background
In the daily operation of the container terminal, the setting and the release of the forbidden area can occur at any time. For example: when the shore bridge carries out cabin cover plate operation, an area below the shore bridge is set as a forbidden zone, and the forbidden zone is released after the operation is finished; when the tire crane performs inter-yard transfer, all areas of a running route of the tire crane are set as forbidden areas, and the forbidden areas are released after the transfer is finished; when some areas have maintenance or other situations, the areas need to be set as forbidden areas, and the forbidden areas are released after the operation is finished. When the prohibited area is set, the passage of vehicles in the area is permitted, and the entry of vehicles not in the area is prohibited. Therefore, in the automatic driving operation process of the port, the problem of scheduling and planning of vehicles under the condition of dynamic setting of the forbidden zone needs to be solved.
Disclosure of Invention
The invention aims to provide a vehicle scheduling planning method aiming at the dynamic setting condition of a forbidden zone, so that tasks and running paths of an automatic driving vehicle are dynamically adjusted when the automatic driving vehicle is dynamically set in the forbidden zone, and the automatic driving vehicle is ensured not to pass through the forbidden zone and automatically complete wharf operation.
In order to achieve the above object, the present invention provides a technical solution,
the application provides a vehicle scheduling planning method aiming at dynamic setting of a port forbidden zone, which comprises the following steps:
a-forbidden zone trigger source sets forbidden zone;
when the B-area processing module receives a forbidden zone signal from a trigger source, recording forbidden zone information, and marking a node in the forbidden zone in a map used by the scheduling planning module as 'no pass';
c, the dispatching planning module carries out dispatching planning on the automatic driving vehicle;
d, releasing the forbidden zone by a forbidden zone trigger source;
when the E-area processing module receives a forbidden zone signal from a trigger source, the forbidden zone information is removed, and a node in the forbidden zone in a map used by the scheduling planning module is marked as 'allowed to pass';
and the F-dispatching planning module searches the forbidden zone ID and the vehicle ID mapping table recorded in the step C according to the forbidden zone ID to obtain the vehicle parked in situ, and carries out path planning on the vehicle based on the current task.
The invention further sets the forbidden zone setting mode by the forbidden zone trigger source as follows: the first mode is as follows: if the quay site operation equipment performs deck plate operation on a shore bridge, numbering the shore bridge to obtain a shore bridge ID, and sending a shore bridge deck plate operation signal to a region processing module of a fleet management system; the second mode is that the operation is carried out according to a graphical interactive interface of the motorcade management system, and boundary coordinates generated when a mouse dragging area is used as a forbidden area are sent to an area processing module of the motorcade management system.
The invention further sets that the forbidden zone information mainly comprises: forbidden zone ID, forbidden zone type, forbidden zone boundary coordinates.
The invention further sets that when the area processing module processes according to different forbidden zone signals: if the trigger signal is a shore bridge deck plate operation signal, the region processing module searches a shore bridge position coordinate and a boundary geometric parameter of the shore bridge according to the shore bridge ID to calculate a boundary coordinate of the forbidden zone, generates a unique forbidden zone ID, and sets the forbidden zone type as 'deck plate operation'; when the trigger signal is a dragging and selecting area on the graphical interaction interface, the area processing module generates a unique forbidden zone ID, sets the forbidden zone type as the specified type in the interface, and takes the received boundary coordinates as the forbidden zone boundary coordinates.
The invention further sets that the scheduling planning module marks the node of the topological map in the high-precision map in the forbidden zone as 'no pass', the data structure corresponding to the 'no pass' mark is a set, and the element in the set is the forbidden zone ID. When the set is empty, it indicates that the node is "passable". When a forbidden zone is set, the "no pass" marking process is to add the forbidden zone ID to the set. When the forbidden area is released, the "allow pass" marking process is to remove the forbidden area ID from the set.
The invention further sets that the scheduling planning module carries out geometric calculation aiming at the path of each vehicle, judges whether the current position of the vehicle passes through the forbidden area in the process of reaching the terminal point, and if the vehicle does not pass through the forbidden area, the vehicle continues to run according to the original path; and if the vehicle passes through the forbidden zone, re-planning the path of the vehicle.
The invention further sets that the path planning calculation process is carried out again:
1. obtaining a task target coordinate of the vehicle from the vehicle task as a terminal point;
2. taking the current position coordinates of the vehicle as a starting point of the vehicle;
3. based on a topological map in the high-precision map, traversing the 'passable' adjacent nodes from the starting point of the vehicle to find the node with the shortest distance from the starting point, continuously traversing the 'passable' adjacent nodes of the found nodes in the previous round, finding the node with the shortest distance from the starting point, and repeating multiple rounds of iteration until the end point is found;
4. if the end point cannot be found, the path planning is not successful. If the path planning is successful, the vehicle drives forwards according to the new path result; if the path planning is unsuccessful, distributing a temporary waiting area task for the vehicle, and planning a new target point path for the vehicle;
5. if the path planning based on the temporary waiting area task is unsuccessful, recording the mapping relation between the current forbidden area ID and the vehicle ID, and stopping on site for waiting;
6. and if the path planning based on the task of the temporary waiting area is successful, the vehicle drives to the temporary waiting area according to a new path result. When the vehicle reaches the temporary waiting area, the original task is continuously executed for the vehicle;
the application also provides a vehicle scheduling planning system for the dynamic setting of the forbidden zone of the port, which is used for realizing a vehicle scheduling planning method for the dynamic setting of the forbidden zone of the port, and the system comprises:
the forbidden zone triggering source is used for triggering a forbidden zone signal and sending the forbidden zone signal to the zone processing module;
the regional processing module is used for recording forbidden zone information or removing forbidden zone information when receiving forbidden zone signals from a trigger source;
and the scheduling planning module marks the node in the forbidden area in the map used by the scheduling planning module as 'no pass' or 'allowed pass', and can perform scheduling planning on the automatic driving vehicle.
The application also provides a computer device, which comprises a memory and a processor, wherein the memory is used for storing computer instructions, and the processor executes the computer instructions so as to execute a vehicle scheduling planning method aiming at the dynamic setting of the forbidden zone of the port.
The present application further provides a computer readable storage medium having stored thereon computer instructions for causing the computer to execute a method for vehicle dispatch planning dynamically set for a restricted area of a port.
The invention has the beneficial effects that: the method for scheduling and planning the automatic driving vehicle during the dynamic setting and releasing of the forbidden zone enables the automatic driving vehicle to dynamically adjust tasks and driving paths during the dynamic setting of the forbidden zone, thereby ensuring that the automatic driving vehicle cannot pass through the forbidden zone and automatically finish wharf operation. In addition, forbidden zone marking is carried out on nodes on the topological map for path planning, and a path planning result which does not pass through the forbidden zone is calculated on the path through marking; after the forbidden area is set, aiming at the problem that the original task cannot plan a new path, a temporary waiting area task is allocated to the automatic driving vehicle as a transfer task, so that the vehicle can continuously finish the task; and after the forbidden zone is released, finding out the in-place parking vehicle according to the mapping relation between the forbidden zone ID and the vehicle ID, and recovering the running.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a scheduling system according to an embodiment of the present invention.
Fig. 2 is a flowchart after setting a forbidden area in the scheduling method in the embodiment of the present invention.
Fig. 3 is a flowchart after releasing the forbidden area in the scheduling method according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present invention.
Detailed Description
Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.
As shown in fig. 1, a system composition diagram provided by the present invention includes a region processing module, a scheduling planning module, a forbidden area trigger source, and an autonomous vehicle, where when the forbidden area trigger source sets a port forbidden area, the region processing module of the fleet management system records information of the forbidden area and marks a node in the high-precision map in the area as "no pass", the scheduling planning module determines a vehicle that will pass through the forbidden area according to a path from a current position of the vehicle to a destination and boundary coordinates of the region, re-plans the vehicle based on task information of the vehicle (the path planning considers whether the destination is no pass, and the planned path result does not pass through the forbidden area), allocates a waiting area task to the vehicle if the planning is unsuccessful, and stops in place and waits if the waiting area task path planning fails.
When the forbidden zone triggers the release of the forbidden zone of the source port, the regional processing module of the fleet management system removes the information of the forbidden zone and marks the node in the region in the high-precision map as 'permitted passage', and the scheduling and planning module carries out path planning on the vehicles waiting for parking in place again based on the current tasks.
As shown in fig. 2 to 3, the present application further provides a vehicle dispatching planning method for dynamic setting of a restricted area of a port, which includes the following basic processes:
a) the forbidden zone trigger source sets a forbidden zone:
the forbidden zone trigger source has different setting modes. The other type is a wharf field operation device, for example, when a shore bridge carries out cabin cover plate operation, the shore bridge is numbered to form a shore bridge ID, and a shore bridge cabin cover plate operation signal is sent to an area processing module of a fleet management system. The other is a graphical interactive interface of the fleet management system, for example, boundary coordinates generated when a mouse dragging area is used as a forbidden area are sent to an area processing module of the fleet management system.
b) When the regional processing module receives a forbidden zone signal from a trigger source, the forbidden zone information is recorded, and a node in the forbidden zone in a map used by the scheduling planning module is marked as 'no pass';
the forbidden zone information mainly comprises: forbidden zone ID, forbidden zone type and forbidden zone boundary coordinate
The area processing module processes according to different forbidden zone signals: when the trigger signal is the operation of the cabin cover plate of the shore bridge, the region processing module searches a position coordinate of the shore bridge and a boundary geometric parameter of the shore bridge according to the ID of the shore bridge to calculate a boundary coordinate of the forbidden traveling region, generates a unique forbidden traveling region ID, and sets the type of the forbidden traveling region as cabin cover plate operation; when the trigger signal is a dragging and selecting area on the graphical interaction interface, the area processing module generates a unique forbidden zone ID, sets the forbidden zone type as the specified type in the interface, and takes the received boundary coordinates as the forbidden zone boundary coordinates.
The scheduling planning module marks nodes of the topological map in the high-precision map in the forbidden region as 'no pass', a data structure corresponding to the 'no pass' mark is a set, and an element in the set is the forbidden region ID. When the set is empty, it indicates that the node is "passable". When a forbidden zone is set, the "no pass" marking process is to add the forbidden zone ID to the set. When the forbidden area is released, the "allow pass" marking process is to remove the forbidden area ID from the set.
c) The scheduling planning module performs scheduling planning on the automatic driving vehicle:
and the scheduling planning module performs geometric calculation on the path of each vehicle and judges whether the vehicle passes through the forbidden area in the process from the current position to the terminal point.
If the vehicle can not pass through the forbidden zone, the vehicle continues to run according to the original route. If the starting point is in the forbidden zone and the ending point is not in the forbidden zone, the vehicle is also considered not to pass through the forbidden zone (the corresponding scene is that the vehicle is just in the zone when the forbidden zone is set, and the vehicle is allowed to continuously run out of the forbidden zone at the moment).
And if the vehicle passes through the forbidden zone, re-planning the path of the vehicle. And (3) path planning calculation process:
1. obtaining task target coordinates of vehicle as terminal point from vehicle task
2. Taking the current position coordinates of the vehicle as the starting point of the vehicle
3. Based on a topological map in the high-precision map, traversing the 'passable' adjacent nodes from the starting point of the vehicle to find the node with the shortest distance from the starting point, continuously traversing the 'passable' adjacent nodes of the found nodes in the previous round, finding the node with the shortest distance from the starting point, and repeating multiple rounds of iteration until the end point is found.
4. If the end point cannot be found, the path planning is not successful.
And if the path planning is successful, the vehicle drives forwards according to the new path result.
If the path planning is unsuccessful, a temporary waiting area task is allocated to the vehicle, and a new path planning of a target point is carried out for the vehicle.
And if the path planning based on the temporary waiting area task is unsuccessful, recording the mapping relation between the current forbidden area ID and the vehicle ID, and stopping on site for waiting.
And if the path planning based on the task of the temporary waiting area is successful, the vehicle drives to the temporary waiting area according to a new path result. When the vehicle reaches the temporary waiting area, the original task can be continuously executed for the vehicle.
d) The forbidden zone triggers the source to release the forbidden zone. For example, the shore bridge sends a deck plate operation end signal; release information containing forbidden zone ID sent by graphical interaction interface
e) When the regional processing module receives a forbidden zone signal from a trigger source, the forbidden zone information is removed, and a node in the forbidden zone in a map used by the scheduling planning module is marked as 'allowed to pass';
f) and (c) the scheduling planning module searches the mapping table of the forbidden zone ID and the vehicle ID recorded in the step (c) according to the forbidden zone ID to obtain the vehicle parked in situ, and the vehicle is subjected to path planning based on the current task.
And if the path planning is successful, the automatic driving vehicle drives forwards according to the planning result. Otherwise, the in-place parking waiting is continued.
As shown in fig. 4, the present application further provides a computer device, which includes a memory for storing computer instructions, and a processor for executing the computer instructions to execute a vehicle scheduling planning method dynamically configured for a forbidden zone of a port.
The present application further provides a computer readable storage medium having stored thereon computer instructions for causing the computer to execute a method for vehicle dispatch planning dynamically set for a restricted area of a port.
The method for scheduling and planning the automatic driving vehicle during the dynamic setting and releasing of the forbidden zone enables the automatic driving vehicle to dynamically adjust tasks and driving paths during the dynamic setting of the forbidden zone, thereby ensuring that the automatic driving vehicle cannot pass through the forbidden zone and automatically finish wharf operation. The method comprises the steps of marking forbidden zones on nodes on a topological map for path planning, and calculating a path planning result which does not pass through the forbidden zones on a path through marking; after the forbidden area is set, aiming at the problem that the original task cannot plan a new path, a temporary waiting area task is allocated to the automatic driving vehicle as a transfer task, so that the vehicle can continuously finish the task; and after the forbidden zone is released, finding out the in-place parking vehicle according to the mapping relation between the forbidden zone ID and the vehicle ID, and recovering the running.
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. The description and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A vehicle dispatching planning method for dynamic setting of a restricted area of a port is characterized by comprising the following steps:
a-forbidden zone trigger source sets forbidden zone;
when the B-area processing module receives a forbidden zone signal from a trigger source, recording forbidden zone information, and marking a node in the forbidden zone in a map used by the scheduling planning module as 'no pass';
c, the dispatching planning module carries out dispatching planning on the automatic driving vehicle;
d, triggering a source to release the forbidden zone by the forbidden zone;
when the E-area processing module receives a forbidden zone signal from a trigger source, the forbidden zone information is removed, and a node in the forbidden zone in a map used by the scheduling planning module is marked as 'allowed to pass';
and the F-dispatching planning module searches the forbidden zone ID and the vehicle ID mapping table recorded in the step C according to the forbidden zone ID to obtain the vehicle parked in situ, and carries out path planning on the vehicle based on the current task.
2. The vehicle scheduling planning method for the dynamic setting of the restricted area of the port according to claim 1, wherein the restricted area trigger source sets the restricted area in the following manner: the first mode is as follows: if the quay site operation equipment performs deck plate operation on a shore bridge, numbering the shore bridge to obtain a shore bridge ID, and sending a shore bridge deck plate operation signal to a region processing module of a fleet management system; the second mode is that the operation is carried out according to a graphical interactive interface of the motorcade management system, and boundary coordinates generated when a mouse dragging area is used as a forbidden area are sent to an area processing module of the motorcade management system.
3. The vehicle scheduling planning method for the dynamic setting of the restricted area of the port according to claim 2, wherein the information of the restricted area mainly comprises: forbidden zone ID, forbidden zone type, forbidden zone boundary coordinates.
4. The vehicle scheduling planning method for the dynamic setting of the restricted area of the harbor according to claim 3, wherein when the area processing module processes according to different signals of the restricted area: if the trigger signal is a shore bridge deck plate operation signal, the region processing module searches a shore bridge position coordinate and a boundary geometric parameter of the shore bridge according to the shore bridge ID to calculate a boundary coordinate of the forbidden zone, generates a unique forbidden zone ID, and sets the forbidden zone type as 'deck plate operation'; when the trigger signal is a dragging and selecting area on the graphical interaction interface, the area processing module generates a unique forbidden zone ID, sets the forbidden zone type as the specified type in the interface, and takes the received boundary coordinates as the forbidden zone boundary coordinates.
5. The vehicle scheduling and planning method for the dynamic setting of the restricted area of the port as claimed in claim 3, wherein the scheduling and planning module marks the nodes of the topological map in the high-precision map in the restricted area as "no pass", and the data structure corresponding to the "no pass" mark is a set, and the element in the set is the ID of the restricted area. When the set is empty, it indicates that the node is "passable". When a forbidden zone is set, the "no pass" marking process is to add the forbidden zone ID to the set. When the forbidden area is released, the "allow pass" marking process is to remove the forbidden area ID from the set.
6. The method of claim 4, wherein the vehicle scheduling planning method is dynamically set for the restricted area of the port, and comprises the following steps: the scheduling planning module performs geometric calculation on the path of each vehicle, judges whether the current position of the vehicle passes through the forbidden area in the process of reaching the terminal point, and if the vehicle does not pass through the forbidden area, the vehicle continues to run according to the original path; and if the vehicle passes through the forbidden zone, re-planning the path of the vehicle.
7. The method of claim 6, wherein the vehicle scheduling planning method is dynamically configured for a restricted area of a port, and comprises the following steps: the re-performing of the path planning calculation process:
1. obtaining a task target coordinate of the vehicle from the vehicle task as a terminal point;
2. taking the current position coordinates of the vehicle as a starting point of the vehicle;
3. based on a topological map in the high-precision map, traversing the 'passable' adjacent nodes from the starting point of the vehicle to find the node with the shortest distance from the starting point, continuously traversing the 'passable' adjacent nodes of the found nodes in the previous round, finding the node with the shortest distance from the starting point, and repeating multiple rounds of iteration until the end point is found;
4. if the end point cannot be found, the path planning is not successful. If the path planning is successful, the vehicle drives forwards according to the new path result; if the path planning is unsuccessful, distributing a temporary waiting area task for the vehicle, and planning a new target point path for the vehicle;
5. if the path planning based on the temporary waiting area task is unsuccessful, recording the mapping relation between the current forbidden area ID and the vehicle ID, and stopping on site for waiting;
6. and if the path planning based on the task of the temporary waiting area is successful, the vehicle drives to the temporary waiting area according to a new path result. When the vehicle reaches the temporary waiting area, the original task is continuously executed for the vehicle;
8. the utility model provides a vehicle scheduling planning system to entrance to a harbor forbidden district developments setting which characterized in that: the vehicle scheduling planning method for realizing the dynamic setting of the harbor forbidden zone in any one of claims 1 to 7, wherein the system comprises the following steps:
the forbidden zone triggering source is used for triggering a forbidden zone signal and sending the forbidden zone signal to the zone processing module;
the regional processing module is used for recording forbidden zone information or removing forbidden zone information when receiving forbidden zone signals from a trigger source;
and the scheduling planning module marks the node in the forbidden area in the map used by the scheduling planning module as 'no pass' or 'allowed pass', and can perform scheduling planning on the automatic driving vehicle.
9. A computer device, characterized in that the device comprises a memory for storing computer instructions, and a processor for executing the computer instructions to execute a vehicle scheduling planning method for dynamic setting of a restricted area of a port according to any one of claims 1 to 7.
10. A computer-readable storage medium storing computer instructions for causing a computer to perform the method for vehicle dispatch planning for a dynamically configured restricted area of a port of any one of claims 1-7.
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