CN116205463A

CN116205463A - Unmanned transport vehicle dispatching method and unmanned transport vehicle operation system

Info

Publication number: CN116205463A
Application number: CN202310267507.2A
Authority: CN
Inventors: 董胜伟; 卢向前; 周庆亮
Original assignee: Shengjing Intelligent Technology Jiaxing Co ltd
Current assignee: Shengjing Intelligent Technology Jiaxing Co ltd
Priority date: 2023-03-13
Filing date: 2023-03-13
Publication date: 2023-06-02

Abstract

The invention relates to the field of intelligent dispatching, and provides an unmanned transport vehicle dispatching method and an unmanned transport vehicle operation system, wherein the method comprises the following steps: receiving a transport instruction for a target cargo within a management and control area; determining whether a schedulable unmanned transport vehicle exists in the management and control area; if a schedulable unmanned transport vehicle exists in the management and control area, selecting a target unmanned transport vehicle from the schedulable unmanned transport vehicles, generating a first transport task based on the current position of the target unmanned transport vehicle, the current position of target goods and a destination, and sending the first transport task to the target unmanned transport vehicle; if no schedulable unmanned transport vehicle exists in the management and control area, determining whether schedulable personnel exist in the management and control area; and if the schedulable personnel exist, selecting a target personnel from the schedulable personnel, generating a second transportation task based on the current position of the target personnel, the current position of the target goods and the destination, and sending the second transportation task to the terminal of the target personnel. Thus, the cargo transportation efficiency is improved.

Description

Unmanned transport vehicle dispatching method and unmanned transport vehicle operation system

Technical Field

The invention relates to the technical field of intelligent dispatching, in particular to an unmanned transport vehicle dispatching method and an unmanned transport vehicle operation system.

Background

The unmanned transport vehicle is a moving device which can move autonomously and is provided with a lifting, traction or trailer and other mechanisms, and can finish tasks such as autonomous movement and movement of goods.

At present, unmanned transport vehicles are widely applied to cargo transportation in scenes such as warehouses and parking lots, and in the scenes, although the unmanned transport vehicles are scheduled to realize cargo transportation, the purposes of improving operation efficiency, reducing labor cost, reducing time cost, improving user experience and the like can be achieved, and the cargo transportation efficiency can be affected under special conditions such as inconvenient use of the unmanned transport vehicles.

Disclosure of Invention

The invention provides a dispatching method and an operation system of an unmanned transport vehicle, which are used for solving the problem of low transport efficiency of a dispatching mode of the unmanned transport vehicle in the prior art, realizing the mixed operation of the unmanned transport vehicle and personnel and improving the transport efficiency.

The invention provides a scheduling method of an unmanned transport vehicle, which comprises the following steps:

receiving a transport instruction for target goods in a management and control area, wherein the transport mode of the goods in the management and control area comprises unmanned transport vehicle transport and personnel transport;

Determining whether a schedulable unmanned transport vehicle exists in the control area;

if the schedulable unmanned transport vehicle exists in the management and control area, a target unmanned transport vehicle is selected from the schedulable unmanned transport vehicles, and a first transport task is generated and sent to the target unmanned transport vehicle based on the current position of the target unmanned transport vehicle, the current position of the target goods and the destination;

if no schedulable unmanned transport vehicle exists in the control area, determining whether schedulable personnel exist in the control area;

and if the schedulable personnel exist, selecting a target personnel from the schedulable personnel, generating a second transportation task based on the current position of the target personnel, the current position of the target goods and the destination, and sending the second transportation task to the terminal of the target personnel.

According to the unmanned transport vehicle dispatching method provided by the invention, the method for determining whether the dispatchable unmanned transport vehicle exists in the control area comprises the following steps:

and determining whether the unmanned transport vehicle with the electric quantity larger than or equal to a set threshold value and in an idle state exists in the management and control area.

According to the unmanned carrier vehicle dispatching method provided by the invention, a target unmanned carrier vehicle is selected from the dispatchable unmanned carrier vehicles, and the method comprises the following steps:

For each schedulable unmanned carrier vehicle in the management and control area, the following operation is executed, and a first moving distance, corresponding to each schedulable unmanned carrier vehicle, reaching the current position of the target cargo is determined: determining a first planned path of the first schedulable unmanned carrier to reach the target cargo based on the current position of the first schedulable unmanned carrier and the current position of the target cargo, and determining the first moving distance corresponding to the first schedulable unmanned carrier based on the first planned path; the first schedulable unmanned transport vehicle is any one of the schedulable unmanned transport vehicles in the control area;

and selecting the target unmanned carrier vehicle from the schedulable unmanned carrier vehicles based on the first moving distance corresponding to the schedulable unmanned carrier vehicle in the control area.

According to the method for dispatching the unmanned carrier vehicle provided by the invention, the target unmanned carrier vehicle is selected from the dispatching unmanned carrier vehicles based on the first moving distance corresponding to the dispatching unmanned carrier vehicles in the control area, and the method comprises the following steps:

Determining the schedulable unmanned carrier with the shortest first moving distance in the schedulable unmanned carrier in the control area;

when the schedulable unmanned carrier with the shortest first moving distance is one, the schedulable unmanned carrier with the shortest first moving distance is used as the target unmanned carrier;

when the number of the schedulable unmanned vehicles with the shortest first moving distance is multiple, selecting one schedulable unmanned vehicle with the highest electric quantity from the schedulable unmanned vehicles with the shortest first moving distance as the target unmanned vehicle.

According to the unmanned transport vehicle dispatching method provided by the invention, the target personnel are selected from the schedulable personnel, and the method comprises the following steps:

for each schedulable person in the control area, the following operation is executed, and a second moving distance corresponding to each schedulable person and reaching the current position of the target goods is determined: determining a second planning path for the first schedulable person to reach the target cargo based on the current position of the first schedulable person and the current position of the target cargo, and determining the second moving distance corresponding to the first schedulable person based on the second planning path; the first schedulable person is any one of the schedulable persons in the control area;

And selecting a target person from the schedulable persons based on the second moving distance corresponding to the schedulable persons in the control area.

According to the unmanned carrier vehicle dispatching method provided by the invention, the selecting the target person from the schedulable persons based on the second moving distance corresponding to the schedulable person in the control area comprises the following steps:

determining the schedulable person with the shortest second moving distance in the schedulable person in the control area;

when the schedulable person with the shortest second moving distance is one, taking the schedulable person with the shortest second moving distance as the target person;

and when the second movable distance is the shortest, selecting one schedulable person with the minimum transportation task number in a target time period from the schedulable persons with the shortest second movable distance as the target person.

The unmanned transport vehicle dispatching method provided by the invention further comprises the following steps:

monitoring whether the cargo space is occupied or not through a cargo space detection device arranged on the cargo space in the management and control area;

When feedback information of the target unmanned transport vehicle or the terminal characterization task of the target personnel is received, if the goods space of the destination is unoccupied, controlling an alarm device corresponding to the goods space of the destination to send out a first alarm signal for characterizing the goods misplacement position of the target; if the target goods are not moved from the actually occupied goods space, updating inventory management information corresponding to the management and control area based on the codes of the target goods and the information of the actually occupied goods space;

before the target unmanned transport vehicle or the target personnel arrive at the destination, if the cargo space of the destination is occupied, controlling an alarm device corresponding to the cargo space of the destination to send out a second alarm signal representing that the cargo space of the destination is occupied by mistake; and if the cargo space of the destination is determined to be occupied all the time, updating the destination, and based on the updated destination, regenerating the first transportation task and sending the first transportation task to the target unmanned transportation vehicle or regenerating the second transportation task and sending the second transportation task to the target personnel.

The invention also provides an unmanned transport vehicle operation system, which comprises: a dispatch system and an upstream system;

The upstream system is used for sending a transport instruction aiming at target goods in a management and control area to the dispatching system;

the dispatching system is used for executing the dispatching method of the unmanned transport vehicle.

According to the unmanned transport vehicle operation system provided by the invention, the cargo space in the management and control area is provided with the cargo space detection device and the alarm device;

the cargo space detection device is used for detecting whether the cargo space is occupied or not;

the alarm device is used for sending out a first alarm signal representing the misplaced goods position of the target goods; and sending out a second alarm signal representing that the goods space of the destination is occupied by errors.

The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the unmanned carrier vehicle scheduling method according to any one of the above when executing the program.

The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the unmanned vehicle scheduling method as described in any of the above.

According to the unmanned carrier vehicle dispatching method, the cargo transportation mode in the control area comprises unmanned carrier vehicle transportation and personnel transportation, namely man-machine mixed operation can be carried out, after a transportation instruction for the target cargo in the control area is received, whether the schedulable unmanned carrier vehicle exists in the control area or not can be determined, if the schedulable unmanned carrier vehicle exists in the control area, the schedulable unmanned carrier vehicle can be selected as the target unmanned carrier vehicle, the first transport task is generated and sent to the target unmanned carrier vehicle based on the current position of the target unmanned carrier vehicle and the current position and the destination of the target cargo, if the schedulable unmanned carrier vehicle does not exist in the control area, whether the schedulable personnel exists in the control area can be determined, if the schedulable personnel exist, the target personnel can be selected from the schedulable personnel, and the second transport task is generated and sent to the terminal of the target personnel based on the current position and the destination of the target personnel, so that reasonable scheduling in the mixed operation is realized, various unmanned carrier vehicles can be handled, the scheduling is inconvenient, the scheduling of the unmanned carrier vehicle is not convenient, and the unmanned carrier vehicle is more efficient is scheduled.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of an unmanned transport vehicle scheduling method provided by the invention;

FIG. 2 is a schematic diagram of an unmanned vehicle operating system provided by the invention;

fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the process of realizing the invention, the inventor finds that in the related art, in the scene of carrying out cargo transportation by using the unmanned transport vehicle, for example, in some scenes facing the closed environment, most of the scenes use a single scheduling scheme aiming at the unmanned transport vehicle, and the efficient transportation of the cargo is not facilitated under the special conditions of inconvenient use and the like of the unmanned transport vehicle.

In order to facilitate understanding of the solution of the present invention, the following first describes concepts related to the embodiments of the present invention.

And (3) cargo: materials that can be handled by an unmanned transport vehicle, such as materials placed on pallets or vehicles (e.g., ordinary cars), and so forth.

Encoding of goods: the upstream system manages the unique code used by the goods and is pasted to the goods in the form of a bar code or a two-dimensional code.

Unmanned transport vehicle: the system can receive the instruction of the dispatching system and complete tasks such as autonomous movement, movement of goods and the like.

Management and control area: areas that may be monitored and managed by the dispatch system, such as warehouses or parking lots, etc.

And (5) warehousing the transfer area: a sub-region when the cargo enters the management and control region; and (5) a warehouse-out transfer area: a sub-region when the cargo leaves the management and control region; the warehouse-in transfer area and the warehouse-out transfer area are areas where unmanned transport vehicles and manual delivery are connected, and both belong to a management and control area.

Cargo space: and each cargo space is provided with a unique number in the minimum unit area marked when the cargo is stored in the management and control area.

Cargo space detection device: the means for detecting whether the cargo space is occupied may be, for example, based on ultrasonic ranging, vision, laser ranging, etc. When there is no cargo on the cargo space, the cargo space detection device displays that the cargo space is in an unoccupied state, and when there is cargo on the cargo space, the cargo space detection device displays that the cargo space is in an occupied state.

Upstream system: systems for shipping instructions (e.g., ex-warehouse instructions and in-warehouse instructions) to a dispatch system for shipping items are typically enterprise resource planning (Enterprise Resource Planning, ERP) systems or warehouse management system (Warehouse Management System, WMS) systems, etc.

Scheduling system: the system can monitor and control states such as cargo positions, unmanned transport vehicles and position information of the cargo in the area, receive transport instructions issued by an upstream system, and call a scheduling algorithm to generate transport tasks of the unmanned transport vehicles and personnel so as to move the cargo, and finally synchronize the states to the upstream system.

The unmanned vehicle scheduling method of the present invention is described below with reference to fig. 1.

The embodiment provides a scheduling method of an unmanned carrier vehicle, as shown in fig. 1, including:

step 110, receiving a transport instruction for target cargos in a control area, wherein the transport mode of the cargos in the control area comprises unmanned transport vehicle transport and personnel transport.

Step 120, determining whether there is a dispatchable unmanned transport vehicle in the management and control area.

And 130, if a schedulable unmanned carrier exists in the management and control area, selecting a target unmanned carrier from the schedulable unmanned carrier, generating a first transport task based on the current position of the target unmanned carrier and the current position and destination of the target goods, and sending the first transport task to the target unmanned carrier.

And 140, if no schedulable unmanned transport vehicle exists in the control area, determining whether schedulable personnel exist in the control area.

And step 150, if schedulable personnel exist, selecting target personnel from the schedulable personnel, generating a second transportation task based on the current position of the target personnel, the current position of the target goods and the destination, and sending the second transportation task to the terminal of the target personnel.

Wherein the target cargo is cargo to be transported, such as cargo to be taken out of a warehouse or put in a warehouse. Accordingly, the transportation instruction for the target cargo may be a warehouse entry instruction or a warehouse exit instruction.

The scheme can be applied to scenes such as warehouses, parking lots and the like. The unmanned transport may be an AGV. In practical application, when a worker puts a target cargo in a certain cargo space in a warehouse-in transfer area, the code of the cargo and the number of the corresponding cargo space are input into an upstream system, and the upstream system is triggered to send a warehouse-in instruction to a dispatching system through input operation. The dispatch system may then receive a warehouse entry instruction for the target good. When the target goods in the management and control area are required to be delivered out of the warehouse, the upstream system can be triggered to deliver a warehouse instruction to the dispatching system through input operation.

In this embodiment, the cargo in the control area may be transported by the unmanned aerial vehicle and the personnel in a mixed mode, so as to improve the transportation efficiency of the cargo, and based on this, it may be determined whether there is a schedulable unmanned aerial vehicle in the control area, if there is a schedulable unmanned aerial vehicle in the control area, then the schedulable unmanned aerial vehicle may be preferentially scheduled, a target unmanned aerial vehicle is selected from the schedulable unmanned aerial vehicles, and based on the current position of the target unmanned aerial vehicle, the current position and the destination of the target cargo, a first transportation task is generated and sent to the target unmanned aerial vehicle. The target unmanned carrier vehicle is a scheduled unmanned carrier vehicle for transporting the target goods. The current position of the target cargo, that is, the position of the cargo space where the target cargo is currently located, may be preset in the implementation. The unmanned conveyor can be provided with a positioning device, and the unmanned conveyor reports the current position positioned by the positioning device to the dispatching system. The destination may be an empty cargo space that the target cargo needs to reach when in or out of warehouse. The first one of the transportation tasks may include a plurality of sub-tasks, such as a movement task to move from a current location of the unmanned conveyor to a current location of the target cargo space and a transportation task to transport the target cargo space from the current location of the target cargo space to a destination.

If no schedulable unmanned transport vehicle exists in the management and control area, people can be scheduled for transport, based on the schedulable people exist in the management and control area, if the schedulable people exist in the management and control area, target people are selected from the schedulable people, and a second transport task is generated and sent to a terminal of the target people based on the current position of the target people, the current position of target goods and the destination. The target person is the person scheduled for transporting the target cargo. The second one of the transportation tasks may include a plurality of subtasks such as a movement task to move from a current location of a person to a current location of a target cargo space and a transportation task to transport the target cargo space from the current location of the target cargo space to a destination.

The current position of the target person can be the destination of the last second transportation task, or can be the position of the target person acquired in real time.

The terminal can be a mobile phone, a tablet personal computer and other terminals, and is accessed to the scheduling system. Personnel in the management and control area can wear the positioning device, and the positioning device of personnel reports the position of the personnel to the dispatching system in real time. Or, the position of the personnel can be obtained in real time through the existing positioning device in the terminal and reported to the dispatching system.

If no dispatchable person is present, a determination may be continued as to whether a dispatchable unmanned transport vehicle is present within the management and control area.

In this embodiment, the transportation mode of the goods in the management and control area includes unmanned transportation vehicle transportation and personnel transportation, and can perform man-machine mixed operation, after receiving the transportation instruction for the target goods in the management and control area, it can be determined whether there is a schedulable unmanned transportation vehicle in the management and control area, if there is a schedulable unmanned transportation vehicle in the management and control area, it can select the schedulable unmanned transportation vehicle as the target unmanned transportation vehicle, based on the current position of the target unmanned transportation vehicle, the current position and destination of the target goods, generate the first transportation task and send to the target unmanned transportation vehicle, if there is no schedulable unmanned transportation vehicle in the management and control area, it can determine whether there is schedulable personnel in the management and control area, if there is schedulable personnel, select target personnel from among the schedulable personnel, generate the second transportation task and send to the terminal of the target personnel, thereby realizing reasonable scheduling when the man-machine mixed operation, so, can cope with various conditions of inconvenient scheduling of unmanned transportation vehicles, and the scheduling of the unmanned transportation vehicle is more flexible, and the scheduling of the unmanned transportation vehicle is improved, and the dispatching efficiency is large, and the unmanned transportation is scheduled.

In an exemplary embodiment, determining whether there is a dispatchable unmanned transport vehicle within the management and control area, the specific implementation may include: and determining whether the unmanned transport vehicle which is in an idle state and has the electric quantity larger than or equal to a set threshold value exists in the management and control area.

In practical application, unmanned transport vehicles in the management and control area can report own electric quantity to the dispatching system. The dispatch system may receive the power of the unmanned vehicle. The dispatching system can also update the state of the unmanned transport vehicle in real time, wherein the state of the unmanned transport vehicle comprises an idle state and a working state. The dispatchable unmanned vehicle may be an unmanned vehicle having an electrical quantity greater than or equal to a set threshold and in an idle state. The set threshold may be set according to practical situations, and is not specifically limited herein.

In this embodiment, the unmanned carrier vehicle in the idle state is preferably selected, so that the unmanned carrier vehicle can be rapidly scheduled to transport the target goods, and the unmanned carrier vehicle with the electric quantity larger than or equal to the set threshold value is preferably selected, so that the unmanned carrier vehicle with the higher electric quantity can be scheduled to transport the target goods, and the situation that the unmanned carrier vehicle is insufficient in electric quantity during transportation is avoided, and the transportation efficiency of the target goods is influenced.

In an exemplary embodiment, a target unmanned carrier vehicle is selected from among schedulable unmanned carrier vehicles, and a specific implementation thereof may include:

for each schedulable unmanned transport vehicle in the management and control area, the following operations are performed to determine a first moving distance corresponding to each schedulable unmanned transport vehicle to reach the current position of the target cargo: determining a first planning path of the first schedulable unmanned transport vehicle to reach the target cargo based on the current position of the first schedulable unmanned transport vehicle and the current position of the target cargo, and determining a first moving distance corresponding to the first schedulable unmanned transport vehicle based on the first planning path; the first schedulable unmanned transport vehicle is any one of schedulable unmanned transport vehicles in the management and control area;

and selecting a target unmanned carrier vehicle from the schedulable unmanned carrier vehicles based on the first moving distance corresponding to the schedulable unmanned carrier vehicle in the control area.

In practical application, the scheduling system can preset an electronic map of the management and control area, and can perform path planning based on the current position of the first schedulable unmanned carrier vehicle and the current position of the target cargo to obtain a first planned path of the first schedulable unmanned carrier vehicle to the target cargo. The first movement distance is a first movement distance required for the dispatchable unmanned transport vehicle to reach the current location of the target cargo. The mileage of the first planned path may be taken as the first travel distance.

The longer the first moving distance, the longer the time required for transporting the target cargo, the shorter the first moving distance, the shorter the time required for transporting the target cargo, and the higher the transport efficiency. In this embodiment, in combination with the first movement distance required for the schedulable unmanned transport vehicle to reach the current position of the target cargo in the management and control area, the target unmanned transport vehicle is selected from the schedulable unmanned transport vehicles, so that the unmanned transport vehicle with higher transport efficiency can be selected, and the transport of the target cargo can be completed quickly.

In an exemplary embodiment, a target unmanned carrier vehicle is selected from the schedulable unmanned carrier vehicles based on a first movement distance corresponding to the schedulable unmanned carrier vehicle in the management and control area, and a specific implementation manner of the target unmanned carrier vehicle may include:

determining a schedulable unmanned transport vehicle with the shortest first moving distance in the schedulable unmanned transport vehicle in the management and control area;

when the first schedulable unmanned carrier with the shortest moving distance is one, the schedulable unmanned carrier with the shortest moving distance is taken as a target unmanned carrier;

when the first movable distance is the shortest, the plurality of schedulable unmanned vehicles are selected, and one schedulable unmanned vehicle with the highest electric quantity is selected as the target unmanned vehicle from the plurality of schedulable unmanned vehicles with the shortest first movable distance.

In practical application, the scheduling system may order the corresponding first movement distances in the schedulable unmanned transport vehicle in the management and control area. And selecting the target unmanned transport vehicle based on the sorting result. The dispatch system may select the first shortest distance of movement from among the dispatchable unmanned vehicles, thereby selecting the unmanned vehicle that arrives at the target cargo fastest. There may be one of the schedulable unmanned vehicles with the shortest first movement distance, and at this time, the schedulable unmanned vehicle with the shortest first movement distance may be directly used as the target unmanned vehicle. The first movable distance may be multiple, and at this time, the target unmanned carrier may be selected by further combining the electric quantity, and one of the schedulable unmanned carriers with the highest electric quantity may be selected as the target unmanned carrier, so that the target unmanned carrier may have sufficient electric quantity to complete the transportation of the target goods.

Of course, a schedulable unmanned carrier with a next highest electric quantity can be selected as the target unmanned carrier, and so on. In practice, the method can be flexibly selected according to actual needs.

In an exemplary embodiment, selecting a target person from among schedulable persons may include:

For each schedulable person in the management and control area, performing the following operation to determine a second moving distance corresponding to each schedulable person to reach the current position of the target cargo: determining a second planning path for the first schedulable person to reach the target cargo based on the current position of the first schedulable person and the current position of the target cargo, and determining a second moving distance corresponding to the first schedulable person based on the second planning path; the first schedulable personnel is any one of schedulable personnel in the management and control area;

and selecting a target person from the schedulable person based on the second moving distance corresponding to the schedulable person in the control area.

In practical application, the scheduling system can perform path planning based on the current position of the first schedulable person and the current position of the target cargo, so as to obtain a second planned path for the first schedulable person to reach the target cargo. The second distance of movement is a second distance of movement that is required for the schedulable person to correspond to the current location of the target good. The mileage of the second planned path may be taken as the second travel distance.

The longer the second moving distance, the longer the time required for transporting the target cargo, the shorter the second moving distance, the shorter the time required for transporting the target cargo, and the higher the transport efficiency. In this embodiment, in combination with the second movement distance required for the schedulable person to reach the current position of the target cargo in the management and control area, the target person is selected from the schedulable persons, so that the person with higher transportation efficiency can be selected, and the transportation of the target cargo can be completed quickly.

In an exemplary embodiment, selecting a target person from among the schedulable persons based on a second distance of movement corresponding to the schedulable persons within the management area, includes:

determining schedulable personnel with the shortest second moving distance in schedulable personnel in the control area;

when the schedulable person with the shortest second moving distance is one, the schedulable person with the shortest second moving distance is taken as a target person;

when the second movable distance is the shortest, the schedulable person is selected as the target person, and the schedulable person with the smallest number of the transportation tasks in the target time period is selected from the schedulable persons with the shortest second movable distance.

In practical applications, the scheduling system may order the corresponding second movement distances among the schedulable people in the management and control area. A target person is selected based on the ranking result. The dispatch system may select the shortest second distance of movement from among the dispatchable unmanned vehicles so that the person that arrives at the target cargo may be selected the fastest. One schedulable person with the shortest second moving distance may be available, and the schedulable person with the shortest second moving distance may be directly used as the target person. The number of the schedulable personnel with the shortest second moving distance may be multiple, at this time, the number of the transportation tasks in the target time period may be further combined to select the target personnel, and one schedulable personnel with the smallest number of the transportation tasks may be selected as the target personnel, so that the transportation tasks may be evenly distributed to the personnel in the management and control area, and fatigue of the personnel is avoided, so that user experience and transportation efficiency of the target goods are reduced.

Of course, it is also possible to select a schedulable person with a small number of transport tasks as the target person, and so on. In practice, the method can be flexibly selected according to actual needs.

In an exemplary embodiment, the unmanned carrier vehicle scheduling method may further include:

monitoring whether the cargo space is occupied or not by a cargo space detection device arranged on the cargo space in the management and control area;

when feedback information of the completion of the terminal characterization task of the target unmanned transport vehicle or the target personnel is received, if the cargo space of the destination is unoccupied, controlling an alarm device corresponding to the cargo space of the destination to send out a first alarm signal for characterizing the misplaced cargo space of the target cargo; if the target goods are not moved from the actually occupied goods space, updating inventory management information corresponding to the management and control area based on the codes of the target goods and the information of the actually occupied goods space;

before the target unmanned transport vehicle or the target personnel arrives at the destination, if the cargo space of the destination is occupied, controlling an alarm device corresponding to the cargo space of the destination to send out a second alarm signal representing that the cargo space of the destination is occupied by mistake; if the cargo space of the destination is determined to be occupied all the time, updating the destination, and based on the updated destination, regenerating the first transportation task and sending the first transportation task to the target unmanned transportation vehicle or regenerating the second transportation task and sending the second transportation task to the target personnel.

In practical application, the cargo space detection device can be arranged on the cargo space in the management and control area, so that the state change of the cargo space can be detected in real time, and whether the cargo space is occupied or not can be determined. An alarm device can be arranged on the cargo space in the management and control area, and the alarm device can be an audible and visual alarm capable of sending out audible and visual alarm signals.

The dispatching system can combine the change of goods space state and cooperate with an alarm device to solve the problem that the personnel operation affects the system data when the man-machine mixed operation is enhanced. Due to the man-machine mixing operation, there may be an abnormal situation in which a person places goods on a goods location other than the destination, for which a solution is provided in the present embodiment.

When the dispatching system generates the second transportation task and sends the second transportation task to the terminal of the target person, the dispatching system can control the alarm device to send out a third alarm signal for prompting the goods position of the destination. Therefore, when the second transportation task is dispatched to the target person, the destination can be prompted, and the target person is prevented from misplacing the target goods.

When feedback information indicating that the terminal of the target unmanned transport vehicle or the target personnel is used for indicating that the target personnel conveys the target goods to an idle goods position of a non-destination, namely a goods misplaced goods position, is received, the dispatching system can control an alarm device corresponding to the goods position of the destination to send out a first alarm signal indicating the goods misplaced goods position. Thus, the target personnel can be prompted to misplace the target goods and remove the target goods as soon as possible.

If the state of the cargo space actually occupied by the target cargo is unchanged within the first set duration, it is determined that the target cargo is not moved away from the cargo space actually occupied, and at this time, inventory management information corresponding to the management and control area can be updated based on the codes of the target cargo and the information of the cargo space actually occupied, so that the influence on subsequent scheduling can be avoided.

Before the target unmanned transport vehicle or the target personnel arrive at the destination, if the state of the cargo space of the destination is occupied, the cargo space of the destination is indicated to be occupied by other personnel or the unmanned transport vehicle by mistake, and at the moment, the dispatching system can control the alarm device corresponding to the cargo space of the destination to send out a second alarm signal representing that the cargo space of the destination is occupied by mistake so as to remind. If the reminding is invalid, the state of the goods position of the destination is not changed within the second set time period, the goods position of the destination is determined to be occupied all the time, at this time, other idle goods positions can be updated to serve as the destination in order to improve the transportation efficiency of the target goods position, and the first transportation task is regenerated and sent to the target unmanned transportation vehicle or the second transportation task is regenerated and sent to the target personnel based on the updated destination, so that the transportation of the target goods is completed rapidly.

The unmanned carrier vehicle scheduling method provided by the embodiment is described in more detail below based on a specific application scenario.

1. An initialization process is performed. The method specifically comprises the following steps:

and a cargo space detection device and an audible and visual alarm are arranged above all cargo spaces in the warehouse-in and warehouse-out and management and control areas.

And accessing the cargo space detection device to a cargo space detection subsystem, and accessing the cargo space detection subsystem to a dispatching system. The cargo space detection subsystem may detect a status of each cargo space based on the cargo space detection device. The dispatch system may obtain the status of the cargo space in real time through the cargo space detection subsystem.

All the unmanned transport vehicles are accessed to a dispatching system, and the dispatching system acquires the positions and other all state information of all the unmanned transport vehicles.

Personnel in the control area access the dispatching system by using terminals such as mobile phones, tablet computers and the like. Personnel wear the positioning device and report the position and other state information of the personnel to the dispatching system.

The dispatching system is connected with the upstream system and can communicate with the upstream system.

2. Condition of warehouse entry of goods

The staff puts the goods in a certain goods position of the warehouse-in transfer area, inputs the codes of the goods and the numbers of the goods positions to the upstream system, and triggers the upstream system to send a warehouse-in instruction aiming at the target goods to the dispatching system through input operation.

The upstream system issues a warehouse-in instruction for the target goods to the dispatching system.

The scheduling system receives a warehousing instruction for the target cargo, can record the code of the target cargo, select an idle cargo space (i.e. destination) according to the current idle cargo space, and can select an idle unmanned carrier or an idle personnel according to the information (such as the position of the cargo space) of the idle unmanned carrier, the idle personnel and the cargo, and specifically, refer to the above embodiments related to selecting the target unmanned carrier and generating the corresponding first transport task, selecting the target personnel and generating the corresponding second transport task, which will not be repeated herein.

The dispatching system issues a first instruction to the cargo space detection subsystem, so that an alarm device of the cargo space of the destination of the cargo space detection subsystem lights up and blinks to prompt a target person that the cargo space is the cargo space of the destination.

The scheduling system issues a first transportation task to the target unmanned transport vehicle or issues a second transportation task to the terminal of the target person.

The first transportation task is split into a movement task and a transportation task. Firstly, the unmanned transport vehicle receives a moving task issued by the dispatching system, plans a moving path, moves to a goods space where a target goods space of a warehouse-in transfer area is located according to the planned moving path, then receives a transporting task issued by the dispatching system, plans a transporting path, drags/mounts goods through mechanisms such as lifting, traction and the like, and transports the goods to the goods space of a destination according to the planned transporting path.

The second transportation task may split the movement task and the transportation task. Firstly, a terminal of a target person receives a moving task, and a moving path can be obtained by using the position of the current cargo position of the target cargo and a third-party tool, or the terminal of the target person receives the moving path issued by a dispatching system. After the target person arrives at the position of the current goods position of the target goods, the terminal of the target person receives the delivery task, and the delivery path can be obtained by utilizing the position, the destination and the third-party tool of the current goods position of the target goods, or the terminal of the target person receives the delivery path issued by the dispatching system. Thereby assisting the targeted personnel in completing the transportation of the targeted cargo space.

After the transportation of the target goods is completed, the target unmanned transport vehicle and the terminal of the target personnel send feedback information of task completion to the dispatching system.

And the dispatching system returns feedback information of task completion to the upstream system.

Thus, the goods warehouse-in process is completed.

3. Condition of goods leaving warehouse

The upstream system issues a delivery instruction for the target cargo to the dispatch system.

The dispatching system receives the ex-warehouse instruction aiming at the target goods, can inquire the goods position of the target goods according to the codes of the target goods, selects an idle goods position (namely a destination) according to the currently idle goods position of the ex-warehouse transfer area, can select an idle unmanned carrier or an idle personnel according to the information of the idle unmanned carrier, the idle personnel and the goods, and particularly can refer to the above embodiments about selecting the target unmanned carrier and generating the corresponding first transport task, selecting the target personnel and generating the corresponding second transport task, which are not repeated herein.

The first transportation task is split into a movement task and a transportation task. Firstly, the unmanned transport vehicle receives a moving task issued by the dispatching system, plans a moving path, moves to a goods space where a target goods space is located according to the planned moving path, then receives a conveying task issued by the dispatching system, plans a conveying path, drags/mounts goods through lifting, traction and other mechanisms, and conveys the goods to the goods space of a destination according to the planned conveying path.

The personnel may transfer the target cargo away from the out-of-stock transfer area.

At this time, the cargo delivery process is completed.

The abnormal condition of the shipment and the abnormal condition of the shipment can be implemented with reference to the above related embodiments, and will not be described herein.

The operation system of the unmanned transport vehicle provided by the invention is described below, and the operation system of the unmanned transport vehicle described below and the scheduling method of the unmanned transport vehicle described above can be correspondingly referred to each other.

The embodiment provides an unmanned carrier vehicle operation system, as shown in fig. 2, including: a dispatch system 201 and an upstream system 202;

the upstream system 202 is configured to send a transport instruction for a target cargo within a controlled area to the dispatch system 201;

the dispatch system 201 is configured to perform the unmanned vehicle dispatch method provided in any of the embodiments described above.

In an exemplary embodiment, a cargo space detection device and an alarm device are arranged on a cargo space in the management and control area;

The alarm device is used for sending out a first alarm signal representing the misplaced goods position of the target goods; a second alarm signal is issued indicating that the destination cargo space is erroneously occupied.

Fig. 3 illustrates a physical schematic diagram of an electronic device, as shown in fig. 3, where the electronic device may include: processor 310, communication interface (Communications Interface) 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 accomplish communication with each other through communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform an unmanned vehicle scheduling method comprising:

determining whether a schedulable unmanned transport vehicle exists in the management and control area;

if a schedulable unmanned transport vehicle exists in the management and control area, selecting a target unmanned transport vehicle from the schedulable unmanned transport vehicles, generating a first transport task based on the current position of the target unmanned transport vehicle, the current position of target goods and a destination, and sending the first transport task to the target unmanned transport vehicle;

If no schedulable unmanned transport vehicle exists in the management and control area, determining whether schedulable personnel exist in the management and control area, if schedulable personnel exist, selecting target personnel from the schedulable personnel, generating a second transport task based on the current position of the target personnel, the current position of target goods and the destination, and sending the second transport task to the terminal of the target personnel.

Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method of unmanned vehicle scheduling provided by the above methods, the method comprising:

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor is implemented to perform the unmanned vehicle scheduling methods provided above, the method comprising:

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for scheduling unmanned vehicles, comprising:

2. The unmanned transport vehicle dispatch method of claim 1, wherein the determining whether a dispatchable unmanned transport vehicle exists within the regulatory domain comprises:

3. The unmanned transport vehicle dispatch method of claim 2, wherein selecting a target unmanned transport vehicle from the dispatchable unmanned transport vehicles comprises:

4. The method of claim 3, wherein selecting the target unmanned carrier from among the schedulable unmanned carriers based on the first distance of movement corresponding to the schedulable unmanned carrier within the controlled area comprises:

5. The unmanned vehicle dispatch method of claim 1, wherein selecting a target person from the dispatchable persons comprises:

6. The method of claim 5, wherein selecting a target person from among the schedulable persons based on the second distance of movement corresponding to the schedulable person in the controlled area comprises:

7. The unmanned transport vehicle scheduling method according to any one of claims 1 to 6, further comprising:

8. An unmanned transport vehicle operating system, comprising: a dispatch system and an upstream system;

the scheduling system is configured to perform the unmanned vehicle scheduling method of any one of claims 1 to 7.

9. The unmanned transport vehicle operating system of claim 8, wherein the cargo space in the management and control area is provided with cargo space detection means and alarm means;

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the unmanned vehicle scheduling method of any one of claims 1 to 7 when the program is executed by the processor.