CN115271559B - Unmanned vehicle scheduling platform, unmanned vehicle, scheduling method and storage medium - Google Patents
Unmanned vehicle scheduling platform, unmanned vehicle, scheduling method and storage medium Download PDFInfo
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/06316—Sequencing of tasks or work
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Abstract
The application discloses a dispatching platform of an unmanned vehicle, the unmanned vehicle, a dispatching method and a storage medium, and belongs to the technical field of unmanned driving. The method comprises the following steps that a dispatching platform determines n excavators, m dump yards and at least two unmanned vehicles which need to circularly execute operation tasks in an operation area, wherein at least one of n and m is more than or equal to 2; setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information; and sending a circular scheduling task list to the unmanned vehicle, so that when the unmanned vehicle circularly executes the operation tasks, the unmanned vehicle does not depend on scheduling of a scheduling platform, and the excavator and/or the dump are/is selected in real time to execute the operation tasks based on the priority information and communication data obtained by vehicle-to-vehicle communication, wherein the communication data represents the number of the unmanned vehicles distributed to each excavator or each dump at the current moment. The application improves the cooperative operation efficiency of unmanned vehicles in the operation area.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a dispatching platform of an unmanned vehicle, the unmanned vehicle, a dispatching method and a storage medium.
Background
The unmanned vehicle needs to acquire the job task issued by the scheduling platform and then execute the job task. At present, a mode for acquiring an operation task by an unmanned vehicle is generally that after the unmanned vehicle completes a previous operation task, or immediately before the previous operation task is completed, the operation task is updated for the unmanned vehicle through a scheduling platform.
When the network conditions near the target position of the unmanned vehicle for executing the operation task are not good, the new operation task cannot be issued in time or cannot be issued to the unmanned vehicle at all, so that the operation efficiency of the unmanned vehicle is reduced or the operation is completely stopped.
Disclosure of Invention
The application provides a scheduling platform, an unmanned vehicle, a scheduling method and a storage medium of the unmanned vehicle, which are used for solving the problem that the operation efficiency of the unmanned vehicle is reduced or the operation is completely stopped because an operation task cannot be issued to the unmanned vehicle in time or completely. The technical scheme is as follows:
in one aspect, a scheduling platform for an unmanned vehicle is provided, comprising: the system comprises a task construction module and a task issuing module;
the task construction module can determine n excavators, m dumps and at least two unmanned vehicles which need to circularly execute operation tasks in an operation area, wherein the operation tasks comprise parking at the excavators to load materials and parking at the dumps to unload the materials, at least one of n and m is larger than or equal to 2, and the inter-vehicle communication among the unmanned vehicles in the operation area and the inter-vehicle communication among the unmanned vehicles and the excavators can be carried out; setting priority information of the n excavators and/or the m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information, wherein the priority information represents the priority of the unmanned vehicle for selecting the excavators or the dump sites;
the task issuing module can send the circular scheduling task list to the unmanned vehicle, so that when the unmanned vehicle circularly executes the operation tasks, the unmanned vehicle does not depend on scheduling of a scheduling platform, the excavator and/or the dump are/is selected in real time to execute the operation tasks based on the priority information and communication data obtained by workshop communication, and the communication data represents the number of the unmanned vehicles distributed to each excavator or each dump at the current moment.
In one possible implementation manner, the task issuing module includes an information receiving part and a task sending part;
and when the information receiving part receives a trigger instruction or preset state information reported by the unmanned vehicle, information for finishing a specified task or information of a specific position, the task sending part sends the circular scheduling task list to the unmanned vehicle.
In a possible implementation manner, the task construction module can acquire the waiting time of all the excavators in each working area, wherein the waiting time is the time required by one excavator for loading the materials to all the unmanned vehicles distributed to the excavator; allocating one operation area for each unmanned vehicle based on the waiting time corresponding to each operation area so as to balance the waiting time of all excavators in each operation area; priority information of the excavator is set for each unmanned vehicle in each working area, so that the waiting time of each excavator in each working area is balanced.
In a possible implementation manner, the task construction module can set at least two priorities for the n excavators, and the number of the unmanned vehicles corresponding to different priorities is balanced; and setting at least two priorities for the m refuse dumps, wherein the number of the unmanned vehicles corresponding to different priorities is balanced.
In one aspect, an unmanned vehicle is provided, comprising: the system comprises a task receiving module and a task executing module;
the task receiving module can receive a circular scheduling task list sent by a scheduling platform of an unmanned vehicle, wherein the circular scheduling task list comprises priority information of n excavators and/or m dump sites which are arranged aiming at least two unmanned vehicles, the n excavators and the m dump sites are positioned in one working area, the unmanned vehicles need to circularly execute working tasks of parking at the excavators to load materials and parking at the dump sites to unload materials, and workshop communication can be performed between the unmanned vehicles in the working area and between the unmanned vehicles and the excavators, wherein at least one of n and m is greater than or equal to 2, and the priority information represents the priority of the unmanned vehicle for selecting the excavator or the dump site;
the task execution module can select the excavator and/or the dump to execute the operation task in real time based on the priority information and communication data obtained by workshop communication without depending on scheduling of the scheduling platform when the operation task is executed circularly, and the communication data represent the number of unmanned vehicles distributed to each excavator or each dump at the current moment.
In a possible implementation manner, the system further comprises an information reporting module;
the information reporting module can report preset state information, information of finishing the specified task or information of the specific position to the scheduling platform, so that the scheduling platform sends the circular scheduling task list to the unmanned vehicle when receiving the preset state information, the information of finishing the specified task or the information of the specific position.
In one possible implementation form of the method,
the task execution module can select at least one excavator to be selected from the operation area, carry out workshop communication with the at least one excavator to be selected or other unmanned vehicles to acquire communication data, and select one excavator from the at least one excavator to be selected according to the communication data to execute an operation task; and/or the presence of a gas in the gas,
the task execution module can select at least one refuse dump to be selected from the operation area, carry out workshop communication with other unmanned vehicles to obtain communication data, and select one refuse dump from the at least one refuse dump to be selected according to the communication data to execute an operation task.
In one possible implementation, the communication data includes a first number of unmanned vehicles that are loading material, a second number of unmanned vehicles to be loaded material, and a third number of queued unmanned vehicles;
the task execution module can obtain a first quantity, a second quantity and a third quantity corresponding to each excavator to be selected, and the excavator with the smallest sum of the first quantity, the second quantity and the third quantity is determined as the finally selected excavator.
In one aspect, a method for scheduling an unmanned vehicle is provided, and the method includes:
determining n excavators, m dumps and at least two unmanned vehicles needing to circularly execute work tasks in a work area, wherein the work tasks comprise parking at the excavators to load materials and parking at the dumps to unload materials, at least one of n and m is larger than or equal to 2, and communication can be carried out between the unmanned vehicles in the work area and between the unmanned vehicles and the excavators;
setting priority information of the n excavators and/or the m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information, wherein the priority information represents the priority of the unmanned vehicle for selecting the excavators or the dump sites;
and sending the circular scheduling task list to the unmanned vehicle so that the unmanned vehicle selects the excavator and/or the dump in real time to execute the operation task based on the priority information and communication data obtained by vehicle-to-vehicle communication without depending on scheduling of a scheduling platform when the unmanned vehicle circularly executes the operation task, wherein the communication data represents the number of the unmanned vehicles distributed to each excavator or each dump at the current moment.
In one aspect, a method for scheduling an unmanned vehicle is provided, the method comprising:
receiving a cyclic scheduling task list sent by a scheduling platform of an unmanned vehicle, wherein the cyclic scheduling task list comprises priority information of n excavators and/or m dump sites which are set for at least two unmanned vehicles, the n excavators and the m dump sites are located in one working area, the unmanned vehicles need to cyclically execute working tasks of parking at the excavators to load materials and parking at the dump sites to unload materials, communication can be performed between the unmanned vehicles in the working area and between the unmanned vehicles and the excavators, at least one of n and m is larger than or equal to 2, and the priority information represents the priority of the unmanned vehicle selecting the excavator or the dump site;
and when the operation tasks are executed circularly, selecting the excavator and/or the dump in real time to execute the operation tasks based on the priority information and communication data acquired by workshop communication without depending on the scheduling of a scheduling platform, wherein the communication data represents the number of unmanned vehicles distributed to each excavator or each dump at the current moment.
In one aspect, a computer-readable storage medium having at least one instruction stored therein, the at least one instruction being loaded and executed by a processor to implement the method for unmanned vehicle dispatch as described above is provided.
The technical scheme provided by the application has the beneficial effects that:
determining n excavators, m dump yards and at least two unmanned vehicles which need to circularly execute operation tasks in an operation area; then, setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information; and finally, sending a circular scheduling task list to the unmanned vehicle. Therefore, by issuing the circular scheduling task at one time, the unmanned vehicle can select the excavator and/or the dump to execute the operation task in real time based on the communication data acquired by the priority information and the local communication capacity (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform when the operation task is circularly executed, the scheduling platform can restrain the excavator and the dump, a certain decision selection right can be provided for the unmanned vehicle, the optimized scheduling in a local range is continuously kept under the condition of poor network condition or even complete loss of the network, and the cooperative operation efficiency of the unmanned vehicle in the operation area is improved.
By issuing the circular scheduling task list once, the unmanned vehicle can be automatically scheduled to the excavator and/or the dump selected by the unmanned vehicle when the operation task is circularly executed, and compared with the situation that each operation needs to receive the scheduling task sent by the scheduling platform, the communication frequency and the communication data volume can be greatly reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below 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 block diagram of a scheduling platform of an unmanned vehicle according to yet another embodiment of the present application;
FIG. 2 is a block diagram of an unmanned vehicle according to yet another embodiment of the present application;
FIG. 3 is a flow chart of a method of scheduling unmanned vehicles according to one embodiment of the present application;
fig. 4 is a flowchart of a method for scheduling an unmanned vehicle according to another embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
In some application scenarios, the unmanned vehicle is able to cycle between limited job tasks. Taking an application scene of mine unmanned driving as an example, an operation task list of an unmanned vehicle in a mining, transportation and discharging operation process generally comprises the following six operation tasks:
1. after the soil is discharged from the soil discharging position, the vehicle goes to the road junction of the loading area;
2. after arriving at a crossing of a loading area, the excavator goes to a specified loading position of the excavator;
3. after the unmanned vehicle reaches the designated loading position of the excavator, the excavator loads materials to the unmanned vehicle;
4. after the material loading is finished, the material goes to an intersection of an unloading area;
5. after arriving at an intersection of an unloading area, going to a soil discharge position in a specified soil discharge site;
6. and after reaching the soil discharging position in the designated soil discharging field, starting to discharge soil.
In the normal working process of mining, transportation and discharging, the unmanned vehicle circulates and reciprocates among the working tasks 1-6 for a long time.
When a plurality of unmanned vehicles form an unmanned vehicle fleet, the unmanned vehicles in the unmanned vehicle fleet can work cooperatively in a local range. Taking the application scenario of unmanned mine as an example, when a plurality of excavators exist in a loading area, after different unmanned vehicles enter the loading area, the dispatching platform can assign the corresponding excavator to each unmanned vehicle. Such as:
the unmanned vehicle 1: excavator 1 loading
The unmanned vehicle 2: excavator 2 loader
The unmanned vehicle 3: excavator 1 ready for loading
The unmanned vehicle 4: excavator 2 is ready to be installed
The unmanned vehicle 5: excavator 1 queuing
The unmanned vehicle 6: dig quick-witted 2 lines up
And the dispatching platform assigns corresponding excavators for unmanned vehicles arriving at a loading area in the fleet according to the loading, the number of vehicles to be loaded, queuing and the like of the excavators, estimated loading time and other factors.
When a network problem occurs in the loading area, the dispatching platform cannot acquire the running states of the unmanned vehicle and the excavator in the loading area, and when the excavator lacks the vehicle and the like, the dispatching platform cannot correct the problem.
In order to overcome the problems, the application provides a scheduling method based on a circular operation task, which comprises the steps of firstly determining n excavators, m dump yards and at least two unmanned vehicles which need to circularly execute the operation task in an operation area; then, setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information; and finally, sending a circular scheduling task list to the unmanned vehicle. Therefore, by issuing the circular scheduling task at one time, the unmanned vehicle can select the excavator and/or the dump to execute the operation task in real time based on the communication data acquired by the priority information and the local communication capacity (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform when the operation task is circularly executed, the scheduling platform can restrain the excavator and the dump, a certain decision selection right can be provided for the unmanned vehicle, the optimized scheduling in a local range is continuously kept under the condition of poor network condition or even complete loss of the network, and the cooperative operation efficiency of the unmanned vehicle in the operation area is improved.
After the cooperative work among the unmanned vehicles in the unmanned vehicle fleet is realized by the scheduling method, the scheduling platform can organize a plurality of work tasks of the unmanned vehicles into a circular work task list and issue the circular work task list to the unmanned vehicles at one time, after the unmanned vehicles execute single work tasks, if the unmanned vehicles cannot receive or finish updated work tasks due to network conditions in time, the work tasks in the circular work task list are circularly executed, and when the network conditions are recovered and a new circular work task list is received, the work tasks are continuously and circularly executed according to the new circular work task list.
Referring to fig. 1, a block diagram of a dispatching platform of an unmanned vehicle according to an embodiment of the present application is shown. The dispatching platform of the unmanned vehicle can comprise: a task construction module 110 and a task issuing module 120.
A task construction module 110 capable of determining n excavators, m dumps and at least two unmanned vehicles required to cyclically perform a work task within a work area, the work task including parking at the excavators to load material and parking at the dumps to unload material, wherein at least one of n and m is greater than or equal to 2, and inter-vehicle communication is enabled between the unmanned vehicles within the work area and between the unmanned vehicles and the excavators; and setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information, wherein the priority information represents the priority of the unmanned vehicle for selecting the excavators or the dump sites.
In this embodiment, the unmanned vehicle needs to perform a mining, transportation and discharging operation process. Simply put, the unmanned vehicle needs to travel to a designated excavator first, and the excavator loads materials for the unmanned vehicle; then, the unmanned vehicle transports the materials to a designated dumping site to unload the materials. The excavator is an operation vehicle for loading materials for the unmanned vehicle, the dump is a set of at least one soil discharging position, and the soil discharging position is a parking position with a fixed length and width so that the unmanned vehicle can park to unload the materials conveniently. For example, if the soil discharge positions 1 to 10 are divided in one working area, the soil discharge positions 1 to 5 may be referred to as a soil discharge site 1, and the soil discharge positions 6 to 10 may be referred to as a soil discharge site 2.
The working area refers to an area containing the unmanned vehicle, the excavator and the dump, and the unmanned vehicle can execute working tasks in the area, namely, the unmanned vehicle loads materials from the excavator, transports the materials to the dump and then unloads the materials. In an application scenario, a plurality of working areas are generally included, and the unmanned vehicles in one working area and the unmanned vehicles and the excavator can communicate with each other. That is, local communication such as V2V (vehicle-to-vehicle) or V2I (vehicle-to-infrastructure) is possible between each unmanned vehicle and each excavator located in the work area to exchange information.
In this embodiment, the task building module 110 may read the unmanned vehicle information, the excavator information, and the dump site information in one working area from the memory, so as to determine that at least two unmanned vehicles, n excavators, and m dump sites exist in one working area. Since it is necessary to realize cooperative work between unmanned vehicles, one work area includes at least two unmanned vehicles, the number of excavators is n, the number of dump sites is m, and at least one of n and m is greater than or equal to 2. That is, there are at least two excavators and at least one dump, or at least one excavator and at least two dumps in one work area.
When n =1, priority information of the excavator is not required to be set; when n is greater than or equal to 2, the task construction module 110 needs to set priority information of each excavator for each unmanned vehicle. For example, if there are excavators 1 to 3 and unmanned vehicles 1 to 3, priority information of the excavators 1 to 3 needs to be set for the unmanned vehicle 1, priority information of the excavators 1 to 3 needs to be set for the unmanned vehicle 2, and priority information of the excavators 1 to 3 needs to be set for the unmanned vehicle 3. Similarly, when m =1, priority information of the dump does not need to be set; when m is equal to or greater than 2, the task construction module 110 needs to set priority information of each dump for each unmanned vehicle. For example, if there are dumps 1 to 3 and unmanned vehicles 1 to 3, priority information of the dumps 1 to 3 needs to be set for the unmanned vehicle 1, priority information of the dumps 1 to 3 needs to be set for the unmanned vehicle 2, and priority information of the dumps 1 to 3 needs to be set for the unmanned vehicle 3.
When setting the priority information, the task construction module 110 may represent the priority information by a numerical value, and a relationship between the numerical value and a level of the priority may be set as needed. If the numerical value and the grade are in a negative correlation relationship, the smaller the numerical value is, the higher the grade is; if the numerical value and the grade are in positive correlation, the larger the numerical value is, the higher the grade is. Taking the numerical value and the grade in a negative correlation as an example, assuming that the task construction module 110 sets the numerical values of the excavators 1 to 3 to be 1 to 3 respectively for the unmanned vehicle 1, the priority of the excavator 1 is the highest, and the priority of the excavator 3 is the lowest. That is, the unmanned vehicle 1 may first select the excavator 1 to perform the work task.
The task building module 110 needs to set priority information based on the number of unmanned vehicles, n, and m to ensure load balancing.
Taking a shovel as an example, the task construction module 110 can obtain the waiting time of all shovels in each working area, wherein the waiting time is the time required by one shovel for loading materials to all unmanned vehicles allocated to the shovel; allocating one operation area for each unmanned vehicle based on the time to be loaded corresponding to each operation area so as to balance the time to be loaded of all the excavators in each operation area; priority information of the excavator is set for each unmanned vehicle in each working area, so that the waiting time of each excavator in each working area is balanced.
Specifically, the task construction module 110 can set at least two priorities for n excavators, and the number of unmanned vehicles corresponding to different priorities is balanced; at least two priorities are set for the m refuse dumps, and the number of the unmanned vehicles corresponding to different priorities is balanced.
For example, if the working area includes a shovel 1-3 and a dump 1-3, and an unmanned vehicle 1-3 exists, the set priority information is as follows:
unmanned car 1:
digging a machine:
excavator 1 load, priority 1
Excavator 2 load, priority 2
Excavator 3 loading, priority 3
A refuse dump:
dump 1, dump 1-dump 5, priority 1
Dump 2, dump 6-dump 10, priority 2
The unmanned vehicle 2:
digging a machine:
excavator 2 load, priority 1
Excavator 3 load, priority 2
Excavator 1 load, priority 3
A refuse dump:
dump 2, dump 6-dump 10, priority 1
Dump 3, dump 11-dump 15, priority 2
The unmanned vehicle 3:
digging a machine:
excavator 3 loading, priority 1
Excavator 1 load, priority 2
Excavator 2 load, priority 3
A refuse dump:
dump 3, dump 11-dump 15, priority 1
Dump 1, dump 1-dump 5, priority 2
In the above example, the excavator 1-3 sets 3 priorities with respect to each unmanned vehicle, and the number of unmanned vehicles corresponding to each priority is 1; the refuse dump 1-3 sets 3 priorities relative to each unmanned vehicle, and the number of the unmanned vehicles corresponding to each priority is 1, so that load balance is realized.
The task issuing module 120 is capable of sending a circular scheduling task list to the unmanned vehicle, so that when the unmanned vehicle circularly executes the operation task, the unmanned vehicle does not depend on scheduling of a scheduling platform, and the excavator and/or the dump are/is selected in real time to execute the operation task based on the priority information and communication data obtained by vehicle-to-vehicle communication, wherein the communication data represents the number of the unmanned vehicles allocated to each excavator or each dump at the current time.
After the circular scheduling task list is generated, the task issuing module 120 may issue the circular scheduling task list to the unmanned vehicle at any time.
In an alternative embodiment, the task issuing module 120 includes an information receiving part and a task transmitting part, and the task transmitting part transmits the circularly scheduled task list to the unmanned vehicle when the information receiving part receives the trigger information. Namely, when the information receiving part receives a trigger instruction or preset state information reported by the unmanned vehicle, information of finishing a specified task or information of a specific position, the task sending part sends a circular scheduling task list to the unmanned vehicle.
In one implementation, the trigger information is a trigger instruction. The trigger instruction may be triggered manually or sent by other scheduling platforms, and the source of the trigger instruction is not limited in this embodiment.
In another implementation manner, the trigger information is preset state information reported by the unmanned vehicle, information for completing a specified task or information of a specific location where the unmanned vehicle is located. The preset state information indicates that the unmanned vehicle is in a preset state or is about to be in the preset state, and the preset state can be set according to actual requirements. For example, the preset state information indicates that the unmanned vehicle is about to enter an area with a poor network signal, which indicates that the unmanned vehicle may not receive the circular scheduling task list sent by the task issuing module 120 in a period of time in the future, and therefore, the circular scheduling task list needs to be sent to the unmanned vehicle in advance. For another example, the preset state information indicates that the current network signal of the unmanned vehicle is better, so that a circular scheduling task list needs to be sent to the unmanned vehicle to avoid that the network signal of the unmanned vehicle is deteriorated and the circular scheduling task list cannot be received.
The completion of the designated task information indicates that the unmanned vehicle has completed the designated task, which may be a staged or difficult-to-implement task. For example, if the designated task may be a refueling task, the unmanned vehicle may send a circular scheduling task list after the unmanned vehicle finishes refueling. For another example, if the designated task may be a single task, the unmanned vehicle may send the circular scheduling task list after completing the single task.
The specific position information indicates the specific position of the unmanned vehicle, and the specific position can be set according to actual requirements. For example, the specific location may be a location near the base station, and the network signal of the unmanned vehicle is better, so that the cyclic scheduling task list needs to be sent to the unmanned vehicle. For another example, the specific location may be an departure location of the unmanned vehicle, which indicates that the unmanned vehicle has not departed yet, and therefore, it is necessary to transmit a circular scheduling task list to the unmanned vehicle so that the unmanned vehicle directly circularly schedules the job task after departure.
When the operation tasks in the circular operation task list are executed, the unmanned vehicle needs to circularly operate between the excavator and the dump, so that the unmanned vehicle can select the excavator and/or the dump in real time to operate based on the communication data acquired by the priority information and the local communication capacity (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform, and the optimal scheduling in a local range is continuously maintained under the condition that the network condition is poor and even the network is completely lost.
It should be noted that, for an unmanned vehicle without local decision-making capability, both n and m may be set to 1, so that the unmanned vehicle is limited to only cyclically operate between one excavator and one dump, and compatibility with an existing scheduling mode is achieved.
In summary, the scheduling platform of the unmanned vehicle provided by the embodiment of the application determines n excavators, m dump yards and at least two unmanned vehicles which need to circularly execute operation tasks in an operation area; then, setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information; and finally, sending a circular scheduling task list to the unmanned vehicle. Therefore, by issuing the circular scheduling task at one time, the unmanned vehicle can select the excavator and/or the dump to execute the operation task in real time based on the communication data acquired by the priority information and the local communication capacity (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform when the operation task is circularly executed, the scheduling platform can restrain the excavator and the dump, a certain decision selection right can be provided for the unmanned vehicle, the optimized scheduling in a local range is continuously kept under the condition of poor network condition or even complete loss of the network, and the cooperative operation efficiency of the unmanned vehicle in the operation area is improved.
By issuing the circular scheduling task list once, the unmanned vehicle can be automatically scheduled to the excavator and/or dump selected by the unmanned vehicle when the operation task is circularly executed, and compared with the situation that the scheduling task sent by the scheduling platform needs to be received in each operation, the communication frequency and the communication data volume can be greatly reduced.
Referring to fig. 2, a block diagram of an unmanned vehicle according to an embodiment of the present application is shown. The unmanned vehicle can include: a task receiving module 210 and a task performing module 220.
The task receiving module 210 can receive a circular scheduling task list sent by a scheduling platform of an unmanned vehicle, the circular scheduling task list includes priority information of n excavators and/or m dumps set for at least two unmanned vehicles, the n excavators and the m dumps are located in one working area, the unmanned vehicles need to circularly execute working tasks of parking at the excavators to load materials and parking at the dumps to unload materials, and inter-vehicle communication can be performed between the unmanned vehicles in the working area and between the unmanned vehicles and the excavators, wherein at least one of n and m is greater than or equal to 2, and the priority information indicates the priority of the unmanned vehicle selecting the excavator or the dump.
The explanation of the circular scheduling task list is described above, and is not described herein again.
In an optional embodiment, the unmanned vehicle further includes an information reporting module 230; the information reporting module 230 is capable of reporting the preset state information, the information of completing the specified task or the information of the located specific location to the scheduling platform, so that the scheduling platform sends the circular scheduling task list to the unmanned vehicle when receiving the preset state information, the information of completing the specified task or the information of the located specific location. The explanation of the preset state information, the information of completing the specified task and the information of the specific location is detailed in the above description, and is not described again here.
And the task execution module 220 can select the excavator and/or the dump in real time to execute the job task based on the priority information and communication data obtained by the workshop communication without depending on the scheduling of the scheduling platform when the job task is executed circularly, wherein the communication data represents the number of the unmanned vehicles distributed to each excavator or each dump at the current moment.
When the excavator is selected, the task execution module 220 can select at least one excavator to be selected from the operation area, perform workshop communication with the at least one excavator to be selected or other unmanned vehicles to acquire communication data, and select one excavator from the at least one excavator to be selected according to the communication data to execute the operation task.
When the refuse dump is selected, the task execution module 220 may select at least one refuse dump to be selected from the work area, perform vehicle-to-vehicle communication with another unmanned vehicle to obtain communication data, and select one refuse dump from the at least one refuse dump to be selected according to the communication data to execute the work task.
Specifically, the communication data comprises a first number of unmanned vehicles loading materials, a second number of unmanned vehicles to be loaded with materials and a third number of queued unmanned vehicles; the task execution module 220 is capable of obtaining a first quantity, a second quantity and a third quantity corresponding to each excavator to be selected, and determining the excavator with the smallest sum of the first quantity, the second quantity and the third quantity as the finally selected excavator.
The sum of the first quantity, the second quantity and the third quantity is minimum, which means that the unmanned vehicles are least in queue in the excavator, so that the excavator can be selected to execute the operation task, the queuing time is shortened, and the operation efficiency is improved.
When the unmanned vehicle makes a decision, the unmanned vehicle does not need to participate in the scheduling platform, and the unmanned vehicle makes a decision locally in real time, so that the decision result does not depend on network connection with the scheduling platform, and the decision can be made always according to the latest data, and the optimal scheduling result of a local scene is still kept even under the condition of network abnormality.
To sum up, the unmanned vehicle provided by the embodiment of the application receives the circular scheduling task at one time, so that the unmanned vehicle can select the excavator and/or the dump in real time to execute the operation task based on the communication data obtained by the priority information and the local communication capability (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform when the operation task is circularly executed, and a certain decision option can be provided for the unmanned vehicle while the scheduling platform restricts the excavator and the dump, so that the optimized scheduling in a local range is continuously maintained under the condition of poor network condition or even complete loss of the network, and the cooperative operation efficiency of the unmanned vehicle in the operation area is improved.
By receiving the circular scheduling task list once, the unmanned vehicle can be automatically scheduled to the excavator and/or the dump selected by the unmanned vehicle when the operation task is circularly executed, and compared with the situation that the scheduling task sent by the scheduling platform needs to be received in each operation, the communication frequency and the communication data volume can be greatly reduced.
Referring to fig. 3, a flowchart of a method for scheduling an unmanned vehicle according to an embodiment of the present application is shown, where the method for scheduling an unmanned vehicle can be applied to a scheduling platform of an unmanned vehicle. The unmanned vehicle scheduling method can comprise the following steps:
And 302, setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information, wherein the priority information indicates the priority of the unmanned vehicle for selecting the excavators or the dump sites.
The scheduling platform needs to set priority information based on the number of unmanned vehicles, n, and m to ensure load balancing.
Specifically, the dispatching platform acquires the waiting time of all the excavators in each working area, wherein the waiting time is the time required by one excavator for loading the material to all the unmanned vehicles distributed to the excavator; allocating one operation area for each unmanned vehicle based on the waiting time corresponding to each operation area so as to balance the waiting time of all excavators in each operation area; priority information of the excavator is set for each unmanned vehicle in each working area, so that the waiting time of each excavator in each working area is balanced.
When priority information is set, the scheduling platform sets at least two priorities for the n excavators, and the number of the unmanned vehicles corresponding to different priorities is balanced; at least two priorities are set for the m refuse dumps, and the number of the unmanned vehicles corresponding to different priorities is balanced.
And 303, sending a circular scheduling task list to the unmanned vehicles, so that when the unmanned vehicles circularly execute the operation tasks, the unmanned vehicles do not depend on scheduling of a scheduling platform, and pick-up machines and/or dumps are selected in real time to execute the operation tasks based on the priority information and communication data obtained by workshop communication, wherein the communication data represents the number of the unmanned vehicles distributed to each pick-up machine or each dump at the current moment.
In an optional embodiment, the scheduling platform sends a circular scheduling task list to the unmanned vehicle when receiving the trigger information.
In one implementation, the trigger information is a trigger instruction. The trigger instruction may be triggered manually or sent by other scheduling platforms, and the source of the trigger instruction is not limited in this embodiment. In another implementation manner, the trigger information is preset state information reported by the unmanned vehicle, information for completing a specified task or information of a specific location where the unmanned vehicle is located.
When the operation tasks in the circular operation task list are executed, the unmanned vehicle needs to circularly operate between the excavator and the dump, so that the unmanned vehicle can select the excavator and/or the dump to execute the operation tasks in real time based on the priority information and communication data acquired by local communication capacity (such as V2V or V2I) between vehicles without depending on the scheduling of a scheduling platform, and the optimized scheduling in a local range is continuously maintained under the condition that the network condition is poor and even the network is completely lost.
To sum up, the unmanned vehicle scheduling method provided by the embodiment of the application determines n excavators, m dumps and at least two unmanned vehicles which need to circularly execute operation tasks in one operation area; then, setting priority information of n excavators and/or m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information; and finally, sending a circular scheduling task list to the unmanned vehicle. Therefore, by issuing the circular scheduling task at one time, the unmanned vehicle can select the excavator and/or the dump to execute the operation task in real time based on the communication data acquired by the priority information and the local communication capacity (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform when the operation task is circularly executed, the scheduling platform can restrain the excavator and the dump, a certain decision selection right can be provided for the unmanned vehicle, the optimized scheduling in a local range is continuously kept under the condition of poor network condition or even complete loss of the network, and the cooperative operation efficiency of the unmanned vehicle in the operation area is improved.
By issuing the circular scheduling task list once, the unmanned vehicle can be automatically scheduled to the excavator and/or the dump selected by the unmanned vehicle when the operation task is circularly executed, and compared with the situation that each operation needs to receive the scheduling task sent by the scheduling platform, the communication frequency and the communication data volume can be greatly reduced.
Referring to fig. 4, a flowchart of a method for scheduling an unmanned vehicle according to an embodiment of the present application is shown, where the method for scheduling an unmanned vehicle can be applied to an unmanned vehicle. The unmanned vehicle scheduling method can comprise the following steps:
In an optional embodiment, the scheduling platform sends a circular scheduling task list to the unmanned vehicle when receiving the trigger information.
In one implementation, the trigger information is a trigger instruction. The trigger instruction may be triggered manually or sent by other scheduling platforms, and the source of the trigger instruction is not limited in this embodiment. In another implementation manner, the trigger information is preset state information, information for completing the specified task or information of the specific location, which are reported by the unmanned vehicle, and correspondingly, the unmanned vehicle needs to report the preset state information, the information for completing the specified task or the information of the specific location to the scheduling platform, so that the scheduling platform sends a circular scheduling task list to the unmanned vehicle when receiving the preset state information, the information for completing the specified task or the information of the specific location.
And 402, when the operation tasks are executed circularly, selecting excavators and/or dump yards in real time to execute the operation tasks based on the priority information and communication data obtained by workshop communication without depending on the scheduling of a scheduling platform, wherein the communication data represent the number of unmanned vehicles distributed to each excavator or each dump yard at the current moment.
When the excavator is selected, the unmanned vehicle selects at least one excavator to be selected from the operation area, carries out workshop communication with the at least one excavator to be selected or other unmanned vehicles to obtain communication data, and selects one excavator from the at least one excavator to be selected according to the communication data to execute an operation task.
Specifically, the communication data comprises a first number of unmanned vehicles loading materials, a second number of unmanned vehicles waiting to be loaded with materials and a third number of queued unmanned vehicles; and the task execution module can acquire the first quantity, the second quantity and the third quantity corresponding to each excavator to be selected, and determines the excavator with the minimum sum of the first quantity, the second quantity and the third quantity as the finally selected excavator.
The sum of the first number, the second number and the third number is the minimum, which indicates that the unmanned vehicles queued in the excavator are the minimum, so that the excavator can be selected to execute the operation tasks, the queuing time is shortened, and the operation efficiency is improved.
When the refuse dump is selected, the unmanned vehicle selects at least one refuse dump to be selected from the operation area, carries out workshop communication with other unmanned vehicles to obtain communication data, and selects one refuse dump from the at least one refuse dump to be selected according to the communication data to execute an operation task.
When the unmanned vehicle makes a decision, the unmanned vehicle does not need to participate in the scheduling platform, and the unmanned vehicle makes a decision locally in real time, so that the decision result does not depend on network connection with the scheduling platform, and the decision can be made always according to the latest data, and the optimal scheduling result of a local scene is still kept even under the condition of network abnormality.
To sum up, according to the unmanned vehicle scheduling method provided by the embodiment of the application, the unmanned vehicle can select the excavator and/or the dump to execute the job task in real time based on the communication data acquired by the priority information and the local communication capability (such as V2V or V2I) between the vehicles without depending on the scheduling of the scheduling platform when the unmanned vehicle circularly executes the job task by receiving the circular scheduling task at one time, so that the excavator and the dump are constrained by the scheduling platform, a certain decision option can be provided for the unmanned vehicle, the optimized scheduling in a local range is continuously maintained under the condition of poor network condition and even complete loss of the network, and the cooperative job efficiency of the unmanned vehicle in a job area is improved.
By receiving the circular scheduling task list at one time, the unmanned vehicle can be automatically scheduled to the excavator and/or the dump selected by the unmanned vehicle when the operation task is circularly executed, and compared with the situation that the scheduling task sent by the scheduling platform needs to be received in each operation, the communication frequency and the communication data volume can be greatly reduced.
One embodiment of the present application provides a computer-readable storage medium having at least one instruction stored therein, the at least one instruction being loaded and executed by a processor to implement the method for scheduling unmanned vehicles as described above.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description should not be taken as limiting the embodiments of the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the embodiments of the present application should be included in the scope of the embodiments of the present application.
Claims (10)
1. A dispatch platform for an unmanned vehicle, comprising: the system comprises a task construction module and a task issuing module;
the task construction module can determine n excavators, m dump sites and at least two unmanned vehicles which need to circularly execute operation tasks in one operation area, wherein the operation tasks comprise parking at the excavators to load materials and parking at the dump sites to unload the materials, at least one of n and m is larger than or equal to 2, and the unmanned vehicles in the operation area and the unmanned vehicles and the excavators can be in vehicle-to-vehicle communication; setting priority information of the n excavators and/or the m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information, wherein the priority information represents the priority of the unmanned vehicle for selecting the excavators or the dump sites;
the task issuing module can send the circular scheduling task list to the unmanned vehicle so that the unmanned vehicle can select excavators and/or dump yards in real time to execute operation tasks without depending on scheduling of a scheduling platform when the unmanned vehicle circularly executes the operation tasks, and communication data obtained based on the priority information and workshop communication indicate the number of the unmanned vehicles distributed to each excavator or each dump yard at the current moment;
the task construction module can set at least two priorities for the n excavators, and the number of the unmanned vehicles corresponding to different priorities is balanced; and setting at least two priorities for the m refuse dumps, wherein the number of the unmanned vehicles corresponding to different priorities is balanced.
2. The unmanned aerial vehicle dispatching platform of claim 1, wherein the task issuing module comprises an information receiving part and a task sending part;
and when the information receiving part receives a trigger instruction or preset state information reported by the unmanned vehicle, information for finishing a specified task or information of a specific position, the task sending part sends the circular scheduling task list to the unmanned vehicle.
3. The unmanned aerial vehicle dispatch platform of claim 1,
the task construction module can acquire the waiting time of all the excavators in each working area, wherein the waiting time is the time required by one excavator for loading the materials to all the unmanned vehicles distributed to the excavator; allocating one operation area for each unmanned vehicle based on the time to be loaded corresponding to each operation area so as to balance the time to be loaded of all the excavators in each operation area; priority information of the excavator is set for each unmanned vehicle in each working area, so that the waiting time of each excavator in each working area is balanced.
4. An unmanned vehicle, comprising: the task receiving module and the task executing module;
the task receiving module can receive a cyclic scheduling task list sent by a scheduling platform of an unmanned vehicle, the cyclic scheduling task list comprises priority information of n excavators and/or m dump sites which are arranged aiming at least two unmanned vehicles, the n excavators and the m dump sites are positioned in one working area, the unmanned vehicles need to circularly execute working tasks of parking at the excavators to load materials and parking at the dump sites to unload materials, and workshop communication can be performed between the unmanned vehicles in the working area and between the unmanned vehicles and the excavators, wherein at least one of n and m is greater than or equal to 2, and the priority information represents the priority of the unmanned vehicle for selecting the excavators or the dump sites;
the task execution module can select the excavator and/or the dump in real time to execute the operation task based on the priority information and communication data obtained by workshop communication without depending on the scheduling of the scheduling platform when the operation task is executed circularly, wherein the communication data represents the number of the unmanned vehicles distributed to each excavator or each dump at the current moment.
5. The unmanned vehicle of claim 4, further comprising an information reporting module;
the information reporting module can report preset state information, information of finishing the specified task or information of the specific position to the scheduling platform, so that the scheduling platform sends the circular scheduling task list to the unmanned vehicle when receiving the preset state information, the information of finishing the specified task or the information of the specific position.
6. The unmanned vehicle of claim 4 or 5,
the task execution module can select at least one excavator to be selected from the operation area, carry out workshop communication with the at least one excavator to be selected or other unmanned vehicles to acquire communication data, and select one excavator from the at least one excavator to be selected according to the communication data to execute an operation task; and/or the presence of a gas in the atmosphere,
the task execution module can select at least one refuse dump to be selected from the operation area, carry out workshop communication with other unmanned vehicles to obtain communication data, and select one refuse dump from the at least one refuse dump to be selected according to the communication data to execute an operation task.
7. The unmanned vehicle of claim 6, wherein the communication data includes a first number of unmanned vehicles that are loading material, a second number of unmanned vehicles to be loaded material, and a third number of unmanned vehicles in line;
the task execution module can obtain a first quantity, a second quantity and a third quantity corresponding to each excavator to be selected, and the excavator with the smallest sum of the first quantity, the second quantity and the third quantity is determined as the finally selected excavator.
8. A method of scheduling an unmanned vehicle, the method comprising:
determining n excavators, m dumps and at least two unmanned vehicles needing to circularly execute work tasks in a work area, wherein the work tasks comprise parking at the excavators to load materials and parking at the dumps to unload the materials, at least one of n and m is larger than or equal to 2, and communication can be carried out between the unmanned vehicles in the work area and between the unmanned vehicles and the excavators;
setting priority information of the n excavators and/or the m dump sites for each unmanned vehicle to obtain a circular scheduling task list containing the priority information, wherein the priority information represents the priority of the unmanned vehicle for selecting the excavators or the dump sites;
sending the circular scheduling task list to the unmanned vehicle, so that when the unmanned vehicle circularly executes the operation tasks, the unmanned vehicle does not depend on scheduling of a scheduling platform, and real-time selects excavators and/or dumps to execute the operation tasks based on the priority information and communication data obtained by workshop communication, wherein the communication data represents the number of the unmanned vehicles distributed to each excavator or each dump at the current moment;
the setting of the priority information of the n excavators and/or the m dump sites for each unmanned vehicle includes: setting at least two priorities for the n excavators, wherein the number of the unmanned vehicles corresponding to different priorities is balanced; and setting at least two priorities for the m refuse dumps, wherein the number of the unmanned vehicles corresponding to different priorities is balanced.
9. A method of scheduling an unmanned vehicle, the method comprising:
receiving a circular scheduling task list sent by a scheduling platform of an unmanned vehicle, wherein the circular scheduling task list comprises priority information of n excavators and/or m dump sites which are arranged aiming at least two unmanned vehicles, the n excavators and the m dump sites are positioned in one working area, the unmanned vehicles need to circularly execute working tasks of parking at the excavators to load materials and parking at the dump sites to unload materials, communication can be carried out between the unmanned vehicles in the working area and between the unmanned vehicles and the excavators, at least one of n and m is greater than or equal to 2, and the priority information represents the priority of the unmanned vehicle selecting the excavator or the dump site;
when the operation tasks are executed circularly, the excavators and/or the dump yards are selected in real time to execute the operation tasks based on the priority information and communication data obtained through workshop communication without depending on the scheduling of a scheduling platform, and the communication data represent the number of unmanned vehicles distributed to each excavator or each dump yard at the current moment.
10. A computer readable storage medium having stored therein at least one instruction, which is loaded and executed by a processor to implement the method of unmanned vehicle dispatch of claim 8 or 9.
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| PCT/CN2022/144002 WO2024066117A1 (en) | 2022-09-27 | 2022-12-30 | Unmanned vehicle scheduling platform, unmanned vehicle, scheduling method and storage medium |
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| CN115686029B (en) * | 2023-01-05 | 2023-04-25 | 北京易控智驾科技有限公司 | Unmanned operation method and device based on manned operation, electronic equipment and storage medium |
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