CN116740914A

CN116740914A - Vehicle scheduling method, device and equipment

Info

Publication number: CN116740914A
Application number: CN202210201942.0A
Authority: CN
Inventors: 张婷; 钟伟
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2023-09-12

Abstract

The invention provides a vehicle dispatching method, a device and equipment, wherein the vehicle dispatching method comprises the following steps: in the event of a failure of a target vehicle in a work area, determining a candidate vehicle capable of taking over the target vehicle to complete the remaining target work; determining a schedulable vehicle in the candidate vehicles according to the supportable transportation times of the candidate vehicles when the residual target operation is carried out; and sending control instructions to at least one schedulable vehicle to cause the schedulable vehicle to take over the target vehicle to complete the remaining target job. According to the scheme, when the vehicles fail in the operation area, the dispatchable vehicles are utilized to fill the gaps of the failed vehicles and support the subsequent residual operation, so that the problem of reduced loading and unloading throughput of the operation area caused by the reduction of the number of the working vehicles is solved.

Description

Vehicle scheduling method, device and equipment

Technical Field

The invention relates to the technical field of internet of things, in particular to a vehicle scheduling method, device and equipment.

Background

Under the intelligent development trend of logistics parks, ports, mining areas, oil mines and the like, the horizontal transportation automatic transformation of the operation area is urgent. In consideration of the improvement cost of an operation area, the cost of a transport vehicle, the long-term operation cost, the green energy conservation and the like, the transportation of the unmanned electric vehicle is currently used as a main improvement direction. When the unmanned electric vehicle is put into use in a large quantity, the vehicle fault condition can be necessarily existed, the unmanned electric vehicle fault is generally divided into three conditions, namely, the damage fault is caused by the reasons of collision accident, part aging and the like; secondly, the vehicle-mounted communication equipment fails; thirdly, the electric quantity is insufficient. When the first two faults occur, the unmanned electric vehicle is carried into a maintenance area by related staff for maintenance, and the operation is suspended; when the third fault occurs, the remote control system sends a charging instruction to the unmanned electric vehicle, and the fault vehicle drives into the charging area to charge and pauses the operation. In this case, the number of working vehicles is reduced in each of the above three failure conditions, and the work area loading/unloading throughput is reduced due to the reduction in the number of working vehicles.

Disclosure of Invention

The embodiment of the invention provides a vehicle dispatching method, device and equipment, which are used for solving the problem of reduced handling throughput of a working area caused by the reduction of the number of working vehicles in the prior art.

In order to solve the technical problems, the embodiment of the invention provides the following technical scheme:

the embodiment of the invention provides a vehicle dispatching method, which comprises the following steps:

in the event of a failure of a target vehicle in a work area, determining a candidate vehicle capable of taking over the target vehicle to complete the remaining target work;

determining a schedulable vehicle in the candidate vehicles according to the supportable transportation times of the candidate vehicles when the residual target operation is carried out;

and sending control instructions to at least one schedulable vehicle to cause the schedulable vehicle to take over the target vehicle to complete the remaining target job.

Optionally, the determining a candidate vehicle capable of taking over the target vehicle to complete the remaining target job includes:

and determining candidate vehicles capable of taking over the target vehicle to complete the residual target operation according to the order of the preset priorities of the vehicles in different areas of the operation area from high to low.

Optionally, the candidate vehicle comprises at least one of:

the first vehicle is positioned in the working area, is upstream of the position of the target loading area where the target vehicle breaks down, and has a current loading capacity smaller than the maximum loading capacity; the target loading area position is determined according to the path planning information, the vehicle positioning information, the current operation instruction and the preset rule of the target vehicle; the current operation instruction comprises information for indicating the target vehicle to perform bidirectional operation or unidirectional operation;

a second vehicle located in the work area and in an idle state;

the third vehicle is positioned in the parking lot corresponding to the working area;

the preset priority of the first vehicle is higher than the preset priority of the second vehicle, and the preset priority of the second vehicle is higher than the preset priority of the third vehicle.

Optionally, before determining the dispatchable vehicle in the candidate vehicles according to the supportable transportation times of the candidate vehicles when the remaining target jobs are performed, the method further comprises:

and determining supportable transportation times of the candidate vehicle when the residual target operation is performed.

Optionally, the determining the supportable number of times of transportation of the candidate vehicle when performing the remaining target job includes:

determining supportable transportation times of the candidate vehicle when the residual target operation is performed according to the current residual electric quantity, the empirical electric quantity, the first electric quantity, the unit-mass unit-distance energy consumption, the electric energy utilization rate, the vehicle body weight, the maximum load quantity of the candidate vehicle, the distance from the position of a target loading area where the target vehicle breaks down to the operation end position corresponding to the residual target operation task, the distance from the operation end position corresponding to the residual target operation task to the position of the target loading area where the target vehicle breaks down and the operation type of the residual target operation;

the first power consumption is the power consumption of the candidate vehicle from the current position to the position of the target loading area where the target vehicle breaks down.

Optionally, the determining a schedulable vehicle in the candidate vehicles according to the supportable transportation times of the candidate vehicles when the remaining target jobs are performed includes:

determining the supportable task amount of the candidate vehicle when the residual target operation is performed according to the supportable transportation times of the candidate vehicle when the residual target operation is performed;

And determining the dispatchable vehicle in the candidate vehicles according to the supportable task quantity.

Optionally, the determining the supportable task amount of the candidate vehicle when the remaining target job is performed according to the supportable transportation times of the candidate vehicle when the remaining target job is performed includes:

determining the supportable task quantity of each candidate vehicle according to supportable transportation times, the residual supportable quantity and a preset unit task quantity accounting value of the candidate vehicle;

wherein the remaining loadable amount is determined according to a maximum load amount and a current load amount of the candidate vehicle.

Optionally, the determining a dispatchable vehicle of the candidate vehicles according to the supportable task amount includes:

determining that the schedulable vehicle includes a first sub-vehicle in the case where the sum of supportable task amounts of the first sub-vehicles in the first vehicles is determined to be greater than or equal to the task amount of the remaining target job in order of sub-priority of each first vehicle in the candidate vehicles from high to low; the first sub-vehicle is at least one of the first vehicles;

determining that the schedulable vehicle includes the first vehicle and the second sub-vehicle in a case where a sum of supportable task amounts of first vehicles in the candidate vehicles is smaller than a task amount of the remaining target job and a sum of supportable task amounts of second sub-vehicles in the second vehicles is determined to be greater than or equal to a task amount of a first target job task in an order of a sub-priority of each second vehicle in the candidate vehicles from high to low; the second sub-vehicle is at least one of the second vehicles; the first target job task amount is a task amount of the remaining target jobs other than a sum of supportable task amounts of the first vehicle;

Determining that the schedulable vehicle includes the first vehicle, the second vehicle, and the third sub-vehicle in a case where a sum of supportable task amounts of a first vehicle in the candidate vehicles and supportable task amounts of a second vehicle in the candidate vehicles is less than a task amount of the remaining target job, and determining that a sub-priority of each third vehicle in the candidate vehicles is in an order from high to low, determining that a sum of supportable task amounts of a third sub-vehicle in the third vehicles is greater than or equal to a task amount of a second target job task; the third sub-vehicle is at least one of the third vehicles; the second target job task amount is a task amount of the remaining target job other than a sum of a supportable task amount of the first vehicle and a supportable task amount of the second vehicle.

Optionally, the method further comprises:

determining a sub-priority of each candidate vehicle according to the distance between the current position of each candidate vehicle and the position of a target loading area where the target vehicle breaks down;

wherein the closer the distance between the current position of the candidate vehicle and the position of the target loading area where the target vehicle fails, the higher the sub-priority of the candidate vehicle;

The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

Optionally, the sending the control instruction to the at least one schedulable vehicle includes:

and sending the control command to each schedulable vehicle according to the sequence from high to low of the priority corresponding to each schedulable vehicle and the sequence from high to low of the sub-priority corresponding to each schedulable vehicle.

The embodiment of the invention also provides a vehicle dispatching device, which comprises:

a first determining module, configured to determine a candidate vehicle capable of taking over the target vehicle to complete a remaining target operation in the event that the target vehicle in the operation area fails;

a second determining module configured to determine a schedulable vehicle among the candidate vehicles according to a supportable number of times the candidate vehicles are transported while performing the remaining target job;

and the sending module is used for sending control instructions to at least one schedulable vehicle so that the schedulable vehicle takes over the target vehicle to finish the residual target job.

Optionally, the first determining module includes:

a first determining unit configured to determine a candidate vehicle capable of taking over the target vehicle to complete the remaining target job in order of a preset priority of vehicles located in different areas of the work area from high to low.

Optionally, the candidate vehicle comprises at least one of:

a second vehicle located in the work area and in an idle state;

Optionally, the apparatus further comprises:

and a third determining module for determining the supportable transportation times of the candidate vehicle when the residual target operation is performed.

Optionally, the third determining module includes:

a second determining unit, configured to determine supportable transportation times of the candidate vehicle when performing the remaining target operation according to a current remaining power, an empirical power consumption, a first power consumption, a unit-mass unit-distance power consumption, a power utilization rate, a vehicle body weight, a maximum load, a distance from a target loading area position where the target vehicle fails to a job end position corresponding to the remaining target operation task, a distance from the job end position corresponding to the remaining target operation task to a target loading area position where the target vehicle fails, and an operation type of the remaining target operation;

Optionally, the second determining module includes:

a third determining unit configured to determine a supportable task amount of the candidate vehicle when the remaining target job is performed, according to supportable transportation times of the candidate vehicle when the remaining target job is performed;

and a fourth determining unit configured to determine a schedulable vehicle among the candidate vehicles according to the supportable task amount.

Optionally, the third determining unit is specifically configured to:

Optionally, the fourth determining unit is specifically configured to:

Optionally, the fourth determining unit is specifically further configured to:

Optionally, the sending module includes:

and the sending unit is used for sending the control instruction to each schedulable vehicle according to the sequence from high to low of the priority corresponding to each schedulable vehicle and the sequence from high to low of the sub-priority corresponding to each schedulable vehicle.

The embodiment of the invention also provides a vehicle dispatching device, which comprises: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle scheduling method as described in any one of the above.

The embodiment of the present invention also provides a readable storage medium having a program stored thereon, which when executed by a processor, implements the steps in the vehicle scheduling method as set forth in any one of the above.

The beneficial effects of the invention are as follows:

according to the scheme, under the condition that the target vehicle in the working area breaks down, a candidate vehicle capable of replacing the target vehicle to complete the residual target operation is determined, the dispatchable vehicles in the candidate vehicle are determined according to the supportable transportation times of the candidate vehicle when the residual target operation is carried out, and a control command is sent to at least one dispatchable vehicle so that the dispatchable vehicle replaces the target vehicle to complete the residual target operation, so that the purposes that when the vehicle breaks down in the working area, the dispatchable vehicle is utilized to fill the blank of the fault vehicle and support the subsequent residual operation are achieved, and the problem that the handling throughput of the working area is reduced due to the reduction of the number of the working vehicles is solved.

Drawings

FIG. 1 shows one of the flow charts of a vehicle scheduling method provided by an embodiment of the present invention;

FIG. 2 is a flow chart illustrating a second method for scheduling vehicles according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle dispatching device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a vehicle dispatching device according to an embodiment of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the drawings and the specific embodiments thereof in order to make the objects, technical solutions and advantages of the present invention more apparent.

The invention provides a vehicle scheduling method, a device and equipment aiming at the problem of reduced handling throughput of a working area caused by the reduction of the number of working vehicles in the prior art.

As shown in fig. 1, an embodiment of the present invention provides a vehicle dispatching method, including:

step 101: in the event of a failure of a target vehicle in a work area, a candidate vehicle that can take over the target vehicle to complete the remaining target work is determined.

It should be noted that, the failure of the target vehicle in the embodiment of the present invention may refer to a failure of the target vehicle, a failure of the vehicle-mounted communication device of the target vehicle, or a failure of insufficient electric power.

The target vehicle may be any horizontal transport vehicle within a work area.

The target vehicle may be an unmanned electric vehicle.

In this step, when any trouble occurs in the target vehicle (unmanned electric vehicle) in the work area, the target vehicle stops the work, and it is necessary to have a support vehicle (schedulable vehicle) continuing with the target vehicle to complete the remaining target work of the current work of the target vehicle, the tasks of the remaining target work including the loading and unloading area work task and the horizontal transport task. Wherein the dispatchable vehicle needs to be selected among the candidate vehicles in the candidate set. In the case where the target vehicle fails, a candidate vehicle that can take over the target vehicle to complete the remaining target work is first determined.

Step 102: and determining the dispatchable vehicles in the candidate vehicles according to the supportable transportation times of the candidate vehicles when the residual target operation is carried out.

After the candidate vehicles in the candidate set are determined, the vehicle transportation capacity of the candidate vehicles is judged, when the judgment is carried out, the corresponding candidate vehicles enter a judgment set, and in the judgment set, if the candidate vehicles are determined to be capable of taking over the target vehicles to carry out the residual target operation, the candidate vehicles are adjusted into the adjustment set to become the schedulable vehicles.

Specifically, in this step, the number of supportable transportation times when the candidate vehicle performs the remaining target work is determined, a determination result is obtained, and a schedulable vehicle is selected from among the candidate vehicles according to the determination result.

Step 103: and sending control instructions to at least one schedulable vehicle to cause the schedulable vehicle to take over the target vehicle to complete the remaining target job.

In this step, after determining the dispatchable vehicles, a control instruction is sent to at least one dispatchable vehicle, the dispatchable vehicles receive the control instruction, and the remaining target jobs are completed according to the control instruction.

Alternatively, the control command may be sent to at least one schedulable vehicle in turn, and when the at least one schedulable vehicle is two or more schedulable vehicles, the control command may be sent to at least one schedulable vehicle or to a plurality of schedulable vehicles simultaneously.

According to the embodiment of the invention, under the condition that the target vehicle in the working area breaks down, a candidate vehicle capable of taking over the target vehicle to complete the residual target operation is determined, the dispatchable vehicles in the candidate vehicle are determined according to the supportable transportation times of the candidate vehicle when the residual target operation is carried out, and a control instruction is sent to at least one dispatchable vehicle, so that the dispatchable vehicle takes over the target vehicle to complete the residual target operation, and the purposes that when the vehicle breaks down in the working area, the dispatchable vehicle is utilized to fill the blank of the fault vehicle and support the subsequent residual operation are achieved, and the problem of reduced loading and unloading throughput of the working area due to the reduction of the number of working vehicles is solved.

When a candidate vehicle capable of taking over the target vehicle to complete the remaining target work is determined, the candidate vehicle is determined in the order of the preset priorities of the vehicles located in different areas of the work area from high to low. That is, vehicles in unused areas of the work area are set to different priorities, and candidate vehicles are selected according to the priority order.

Optionally, the candidate vehicle comprises at least one of:

a second vehicle located in the work area and in an idle state;

Optionally, the preset rule may be issued by a current job instruction.

The candidate vehicle includes at least one of: a first vehicle upstream of the target loading and unloading location within the work area (under-loaded, i.e., the current load of the vehicle is less than the maximum load), a second vehicle that is idle within the work area, and a third vehicle within the parking lot of the work area.

Specifically, the determination process of the candidate vehicle includes at least one of:

judging whether a first vehicle with insufficient load (the same type of cargoes are loaded with the target vehicle) exists at the upstream of the position of the target loading area according to the path planning information and the vehicle positioning information of the target vehicle, if so, taking the first vehicle as a candidate vehicle with first priority (the preset priority of the first vehicle), and then determining that the dispatchable vehicle in the first vehicle supports the target vehicle to finish subsequent residual target operation;

judging whether a second vehicle waiting for a job instruction is idle in the field of the job area, if so, using the second vehicle as a candidate vehicle of a second priority (preset priority of the second vehicle), and then determining that a schedulable vehicle supporting target vehicle in the second vehicle completes subsequent residual target job;

judging whether a third vehicle exists in a parking lot of the working area, if so, using the third vehicle as a candidate vehicle of a third priority (preset priority of the third vehicle), and then determining that a schedulable vehicle supporting target vehicle in the third vehicle completes subsequent residual target operation;

the first priority is higher than the second priority, and the second priority is higher than the third priority.

The process of determining the location of the target load zone is specifically described below.

It should be noted that, the target loading area position is determined on the premise that the cargo to be loaded must exist. For unidirectional operation, the target loading area position must be a loading goods position point, for bidirectional operation, when two loading and unloading area positions have goods to be loaded, the two loading and unloading areas may become target loading areas, and the target loading area position must be a position point where the goods to be loaded exist when only one loading and unloading area position has goods to be loaded according to specific situations.

The position of the loading area where the target vehicle breaks down is determined according to the path planning information of the target vehicle, the vehicle positioning information, the current operation instruction and the preset rule.

For example, the preset rule is to determine the location of the target loading area in the traveling direction before the target vehicle fails, specifically, if the path planning information of the target vehicle is that the cargo is loaded from the location a, and transported to the location B for unloading, the current operation instruction instructs to perform unidirectional operation, and since only the location a has the cargo to be loaded, the location of the target loading area is the location a if it is determined that the cargo is still to be loaded, no matter where the target vehicle fails (it is determined that the target vehicle fails after the cargo is loaded at the location a, or it is determined that the target vehicle fails after the cargo is loaded at the location B, and is in the process of being moved to the location B, or it is determined that the target vehicle fails after the cargo is unloaded at the location B, and the location of the target loading area is the location a if it is determined that the cargo is still to be loaded. If the route planning information of the target vehicle is that goods are loaded from the position A, transported to the position B for unloading, then the goods are loaded from the position B, transported back to the position A for unloading, the current operation instruction instructs to perform bidirectional operation, if the fault of the target vehicle is determined after the goods are loaded/unloaded at the position A according to the positioning information of the target vehicle, and the goods to be loaded are still determined to exist at the position A, the position of the target loading area is the position A, if the goods to be loaded are not determined to exist at the position A, the position of the target loading area is the position B, if the fault of the target vehicle is determined after the goods are loaded/unloaded at the position B according to the positioning information of the target vehicle, and the goods to be loaded are determined to exist at the position B, the position of the target loading area is the position B, if it is determined that the position point B does not have the cargo to be loaded, the target loading area position is the position point a, if it is determined that the target vehicle fails in the process of moving to the position point B after loading/unloading the cargo at the position point a according to the positioning information of the target vehicle, and if it is determined that the position point a also has the cargo to be loaded, the target loading area position is the position point a, if it is determined that the position point a does not have the cargo to be loaded, the position point B is the position point B, if it is determined that the target vehicle fails in the process of moving to the position point a after loading/unloading the cargo at the position point B according to the positioning information of the target vehicle, and if it is determined that the position point B still has the cargo to be loaded, the target loading area position is the position point B, and if the position point A exists the goods to be loaded, the position of the target loading area is the position point A.

For another example, the preset rule is to determine that a location point closer to the fault location of the target vehicle is the location of the target loading area, specifically, if the path planning information of the target vehicle is that the cargo is loaded from the location a, transported to the location B, and unloaded, the current operation instruction instructs to perform unidirectional operation, and since only the location a has the cargo to be loaded, no matter where the target vehicle is faulty (no matter where the target vehicle is determined to be faulty after the cargo is loaded at the location a, no matter where the target vehicle is determined to be faulty after the cargo is unloaded at the location B, no matter where the target vehicle is being loaded, no matter where the cargo is being loaded at the location a, no matter where the target vehicle is being faulty while the cargo is being unloaded at the location B, no matter where the target vehicle is being faulty while the cargo is being unloaded at the location a. If the route planning information of the target vehicle is that goods are loaded at the position A and transported to the position B for unloading, then the goods are loaded at the position B and transported back to the position A for unloading, the current operation instruction instructs to perform bidirectional operation, the fault of the target vehicle after the goods are loaded/unloaded at the position A is determined according to the positioning information of the target vehicle, the position A is a position point which is closer to the fault position of the target vehicle, if the position A is determined to have the goods to be loaded, the position of the target loading area is the position A, if the position A has no goods to be loaded, and the position B has the goods to be loaded, the position of the target loading area is the position B, the fault of the target vehicle after the goods are loaded/unloaded at the position B is determined according to the positioning information of the target vehicle, the position B is a position which is closer to the fault position of the target vehicle, if the position point B is determined to have the goods to be loaded, the position of the target loading area is the position point B, if the position point B does not have the goods to be loaded and the position point A does have the goods to be loaded, the position of the target loading area is the position point A, after the position point A is determined to load/unload the goods according to the positioning information of the target vehicle, the fault occurs in the process of moving to the position point B, if the fault position of the target vehicle is closer to the position point A and the position point A has the goods to be loaded, the position of the target loading area is the position point A, if the fault position of the target vehicle is closer to the position point B and the position point B has the goods to be loaded, the position of the target loading area is the position point B, the fault occurs in the process of moving to the position point A after the position point B is determined to load/unload the goods according to the positioning information of the target vehicle, if the fault position of the target vehicle is closer to the position point B and the goods to be loaded exist in the position point B, the position of the target loading area is the position point B, and if the fault position of the target vehicle is closer to the position point A and the goods to be loaded exist in the position point A, the position of the target loading area is the position point A.

For another example, the preset rule is to preferentially select a location point with a larger load to be loaded as the target loading area location. Specifically, if the path planning information of the target vehicle is that the cargo is loaded at the location a and transported to the location B for unloading, the current operation instruction instructs to perform unidirectional operation, and since only the location a has cargo to be loaded, no matter where the target vehicle fails (whether the target vehicle fails after the cargo is loaded at the location a or whether the target vehicle fails after the cargo is unloaded at the location B or whether the target vehicle fails during the process of unloading the cargo from the location a or whether the target vehicle fails during the process of unloading the cargo from the location B or whether the target vehicle fails during the process of unloading the cargo from the location a), the location of the target loading area is the location a if the cargo to be loaded is determined to exist at the location a. If the path planning information of the target vehicle is that goods are loaded at the position A and transported to the position B for unloading, then the goods are loaded at the position B and transported back to the position A for unloading, the current operation instruction instructs to perform bidirectional operation, the fault of the target vehicle after the goods are loaded/unloaded at the position A is determined according to the positioning information of the target vehicle, or the fault of the target vehicle after the goods are loaded/unloaded at the position B is determined, or the fault occurs in the process of moving to the position B after the goods are loaded/unloaded at the position A is determined, or the fault occurs in the process of moving to the position A after the goods are loaded/unloaded at the position B is determined, if the quantity of the goods to be loaded at the position A is larger, the positions of the target loading areas are all the position A, and if the quantity of the goods to be loaded at the position B is larger, the positions of the target loading areas are all the position B.

Also, for example, a preset rule is to preferentially select a certain position point as the target loading area position. Specifically, if the path planning information of the target vehicle is that the cargo is loaded at the location a and transported to the location B for unloading, the current operation instruction indicates that the unidirectional operation is performed, the location a can only be designated as the location of the target loading area, so that the location of the target loading area is the location a if it is determined that the target vehicle fails at any location (if it is determined that the target vehicle fails after the cargo is loaded at the location a or if it is determined that the target vehicle fails after the cargo is unloaded at the location B or if it is determined that the target vehicle fails during the process of unloading the cargo at the location B and then moves to the location a) if it is determined that the cargo is still to be loaded at the location a. If the path planning information of the target vehicle is that goods are loaded at the position A and transported to the position B for unloading, then the goods are loaded at the position B and transported back to the position A for unloading, the current operation instruction instructs to perform bidirectional operation, the fault of the target vehicle after the goods are loaded/unloaded at the position A is determined according to the positioning information of the target vehicle, or the fault of the target vehicle after the goods are loaded/unloaded at the position B is determined, or the fault of the target vehicle during the process of moving to the position B is determined after the goods are loaded/unloaded at the position B, or the fault of the target vehicle during the process of moving to the position A is determined, if the preset rule is that the position of the target loading area is preferentially selected at the position A, and if the position point A is the goods to be loaded, the preset rule is that the position of the target loading area is preferentially selected at the position A, but the position of the target loading area is not present, if the preset rule is that the position of the target loading area is preferentially selected at the position B, and if the position point B is present, the preset rule is that the position of the target loading area is not preferentially selected at the position B, and if the position of the target area is present, the target loading area is not preferentially selected at the position B, and the position of the target loading area is not to be loaded at the position area.

In the embodiment of the present invention, since the candidate vehicles capable of taking over the target vehicle to complete the remaining target operation are determined in the order of the preset priorities of the vehicles located in the different areas of the operation area from high to low, when the candidate vehicles include the first vehicle, the candidate vehicles may not include the second vehicle and the third vehicle; when the candidate vehicle includes the second vehicle, the candidate vehicle also includes the first vehicle, but the candidate vehicle may not include the third vehicle; when the candidate vehicle includes a third vehicle, the candidate vehicle also includes the first vehicle and the second vehicle.

Preferably, after the candidate vehicles in the candidate set are determined, the candidate vehicles in the candidate set include a first vehicle, a second vehicle, and a third vehicle before the vehicle transportation capability of the candidate vehicles is determined.

In the embodiment of the invention, when judging the transportation capability of the candidate vehicle, the judgment is performed according to the supportable transportation times of the candidate vehicle when the residual target operation is performed, so that the supportable transportation times of the candidate vehicle when the residual target operation is performed need to be determined before the dispatchable vehicle in the candidate vehicle is determined.

The process of calculating the supportable transportation number of the candidate vehicle is specifically described below:

recording the current residual electric quantity of the candidate vehicle as Q _{The remainder is} ，Q _e For empirical power consumption (affected by congestion and weather conditions, etc.), the candidate vehicle is driven from the current location to the location of the target loading zone where the target vehicle is malfunctioning, with a power consumption of Q ₀ The energy consumption per unit mass per unit distance isThe electric energy utilization rate is xi, the weight of the vehicle body is W, and the maximum load capacity is W _lmax The position of the target loading area where the target vehicle fails and the work end point corresponding to the residual target work taskThe distance between the positions (transport distance) is L ₁ A distance (transportation distance) between a work end position corresponding to a remaining target work task and a target loading area position where the target vehicle fails is L ₂ The job type of the remaining target job is a, and the supportable transportation number N of the candidate vehicle is:

wherein, the job type of the remaining target job is unidirectional job or bidirectional job, a=0 when the job type of the remaining target job is unidirectional job, and a=1 when the job type of the remaining target job is bidirectional job.

The location of the target loading area where the target vehicle fails has been described above, and will not be described herein.

After the supportable transportation times of each candidate vehicle are determined, the supportable task amount of each candidate vehicle may be determined according to the supportable transportation times, and the dispatchable vehicles in the candidate vehicles are determined according to the sum of the supportable task amounts of each candidate vehicle, that is, in the embodiment of the present invention, the sum of the supportable task amounts of the dispatchable vehicles in the candidate vehicles is determined to be greater than or equal to the task amount of the remaining target job according to the order of the priority of the candidate vehicles from high to low.

Specifically, the supportable task amount for each candidate vehicle is calculated as:

F＝η(W _{left over} +W _lmax (N-1))

W _{left over} ＝W _lmax -W _l

Wherein F is the supportable task amount of each candidate vehicle, eta is the unit task amount accounting standard value (preset unit task amount accounting value), and W _{left over} N is the supportable transportation times of the candidate vehicle, W _lmax For maximum load of candidate vehicles, W _l Is the current load amount (loaded amount) of the candidate vehicle.

It should be noted that, since the body weight, the current load amount, the current remaining power amount, and the position of each candidate vehicle are all different, when calculating the sum of the supportable task amounts of the candidate vehicles in different areas and different positions, it is necessary to add the supportable task amounts of the candidate vehicles in different areas and different positions one by one.

determining that the schedulable vehicle includes the first vehicle and the second sub-vehicle in a case where a sum of supportable task amounts of first vehicles in the candidate vehicles is smaller than a task amount of the remaining target job and a sum of supportable task amounts of second sub-vehicles in the second vehicles is determined to be greater than or equal to a task amount of a first target job task in an order of a sub-priority of each second vehicle in the candidate vehicles from high to low; the second sub-vehicle is at least one of the second vehicles; the first target job task amount is a task amount of the remaining job tasks other than a sum of supportable task amounts of the first vehicle;

In addition to the fact that the candidate vehicles need to be determined in the order of the preset priorities of the vehicles in different areas of the work area from high to low, when the schedulable vehicles are selected, the candidate vehicles need to be ranked in the area corresponding to the work area in a second-level priority (sub-priority) manner.

Further, the sum of supportable task amounts of the candidate vehicles in different areas and different positions is calculated according to the order of the priorities and the sub-priorities of the candidate vehicles in different areas and different positions from high to low, and then the schedulable vehicle capable of completing the task amounts of the residual target jobs is determined.

Specifically, if the task amount of the remaining target job is M, the sum of supportable task amounts of the first vehicle is M1, the sum of supportable task amounts of the second vehicle in the work area is M2, and the sum of supportable task amounts of the parking lot corresponding to the work area is M3. When M1> =m, the schedulable vehicle includes part or all of the first vehicle; when m1+m2> =m > =m1, the schedulable vehicle includes all of the first vehicles and all or part of the second vehicles; when m1+m2+m3> =m > =m1+m2, the schedulable vehicle includes all of the first vehicles, all of the second vehicles, and all or part of the third vehicles; further, when M > m1+m2+m3, the dispatchable vehicles include all of the first vehicles, all of the second vehicles, and all of the third vehicles.

Further, the method further comprises:

The following specifically describes a process of sorting the secondary priorities (sub-priorities) of the candidate vehicles in the areas corresponding to the work areas, as follows:

in the range of the location area of the candidate vehicle of the first priority, that is, the upstream of the location of the target loading area, the punctuation is reversely traced from the location of the target loading area to the upstream by using the high-precision map, the earlier the punctuation is, the higher the sub-priority is, and finally, the far-near relation between the sub-priority and the path distance (non-coordinate distance) between the current location of the first vehicle and the location of the target loading area is determined as follows: the closer the distance, the higher the sub-priority, and the farther the distance, the lower the sub-priority.

And in the range of the position area of the candidate vehicle with the second priority, namely, in the working area, taking the position of the target loading area as a starting point, calculating the shortest path distance (non-coordinate distance) from the starting point to the position of each second vehicle, sequencing all paths, wherein the closer the path distance from the second vehicle to the position of the target loading area is, the higher the sub-priority is, the farther the distance is, and the lower the sub-priority is.

And in the range of the position area of the candidate vehicle with the third priority, namely, in the parking lot corresponding to the working area, taking the position of the target loading area as a starting point, calculating the shortest path distance (non-coordinate distance) from the starting point to the position of each third vehicle, sequencing all paths, wherein the closer the path distance from the third vehicle to the position of the target loading area is, the higher the sub-priority is, the farther the distance is, and the lower the sub-priority is.

Preferably, the sending the control instruction to the at least one schedulable vehicle includes:

When dispatching the dispatchable vehicle, firstly dispatching the dispatchable vehicle in the first vehicle, namely sending an additional job command A (control command) to the dispatchable vehicle with highest sub-priority in the first vehicle according to the order of the sub-priority of the first vehicle, judging according to the transportation capacity of the dispatchable vehicle, wherein the dispatchable vehicle can possibly carry out operation according to the additional job command, or request a new additional job command or report insufficient transportation capacity (such as the condition of insufficient electric quantity), if the dispatchable vehicle can support the task amount of the residual target job, completing dispatching according to the additional job command A, namely carrying out residual target job, if the dispatchable vehicle can only support the task amount of part of residual target job, sending an additional job command B (control command) to the dispatchable vehicle, so that the dispatchable vehicle can complete dispatching according to the additional job command B, namely carrying out part of residual target job, and sending an additional job command C (control command) to the dispatchable vehicle with next higher sub-priority in the first vehicle, so that the residual vehicle can carry out task dispatching of the residual target job according to the additional job command C. If the dispatchable vehicle with the highest sub-priority in the first vehicle cannot support the task amount of any residual target job, an additional job instruction A (control instruction) is sent to the dispatchable vehicle with the highest sub-priority in the first vehicle, and single or multiple dispatchable vehicles in the first vehicle are dispatched according to the rule, so that the task amount of the residual target job is supported by the target vehicle.

After all the schedulable vehicles in the first vehicle are scheduled, the schedulable vehicles in the second vehicle are scheduled, a control command is sent to the schedulable vehicle with the highest sub-priority in the second vehicle according to the sequence of the sub-priority of the second vehicle from high to low, the control command is a non-additional job command, the schedulable vehicle is judged to be capable of transporting, if the schedulable vehicle can support the remaining target job, the task amount of the remaining target job (the task amount of the remaining target job except for the task amount of the remaining target job which can be supported by the schedulable vehicle in the first vehicle) is supported according to the control command, if the task amount of the remaining target job is not fully distributed, the control command is continuously sent to the schedulable vehicle with the next sub-priority (the schedulable vehicle with the sub-priority of the second vehicle from high to low) according to the control command, the schedulable vehicle with the next sub-priority is enabled to continue the remaining target job according to the control command, and the other schedulable vehicle with the next sub-priority is scheduled, and the remaining target job is supported, and the task amount of the remaining target vehicle or the remaining target vehicle is supported in the second vehicle is scheduled.

After all the schedulable vehicles in the first vehicle and the second vehicle are scheduled, the schedulable vehicle in the third vehicle sends a control command to the schedulable vehicle with the highest sub-priority in the third vehicle according to the sequence of the sub-priority of the third vehicle from high to low, the control command is a non-additional job command, the schedulable vehicle is judged to be capable of transporting, if the schedulable vehicle can support the remaining target job, the task amount of the remaining target job (the task amount of the remaining target job except for the task amount of the remaining target job which can be supported by the schedulable vehicle in the first vehicle and the second vehicle) is supported according to the control command, if the task amount of the remaining target job is not fully distributed, the control command is continuously sent to the schedulable vehicle with the next sub-priority (the schedulable vehicle with the highest sub-priority in the third vehicle) according to the control command, and the other schedulable vehicles with the next sub-priority continue to carry out the remaining target job according to the control command, and the like, the task amount of the remaining target job can be supported by one or more than the schedulable vehicles in the third vehicle is scheduled, and the task amount of the remaining target job can be completed.

The following specifically describes a specific flow of a vehicle scheduling method according to an embodiment of the present invention with reference to fig. 2:

firstly judging whether a first vehicle exists according to the order of priority from high to low, namely, whether a vehicle with insufficient load exists at the upstream of the position of a target loading area, if the vehicle with insufficient load exists, determining that the sum M1 of the supportable task amounts of the first vehicle is 0, if the first vehicle exists, calculating the path distance between the current position of each first vehicle and the position of the target loading area, sorting the path distances from small to large, numbering the first vehicle with the smallest path distance is 0, then gradually increasing along with the increase of the path distance, determining that the sum S of the current supportable task amounts of the first vehicle is 0, judging whether the sum S of the current supportable task amounts of the first vehicle is smaller than the minimum value of the sum M1 of the supportable task amounts of the first vehicle, if the sum M of the current task amounts of the residual task amounts of the first vehicle is smaller than or equal to the sum M1 of the supportable task amounts of the first vehicle, if the sum S of the current task amounts of the residual task amounts of the first vehicle is smaller than the sum M1 of the supportable task amounts of the first vehicle, and if the residual task amounts of the current task amounts of the first vehicle are smaller than the first vehicle are equal to the sum M1 of the supportable task amounts of the first vehicle, and further judging that the residual task amounts of the first vehicle is carried out, and if the residual task amounts of the first vehicle is the maximum and the task amount of the first vehicle is a maximum of the task amount of the first vehicle is added to the first vehicle Supportable task quantity m1 _i Adding the total sum S of the current supportable task amounts to S, assigning an additional result to S, then repeating the process of the first vehicle with the smallest path distance to judge the first vehicle with the next smallest path distance until the total sum S of the current supportable task amounts of the schedulable vehicles is not smaller than the minimum value of the total sum M1 of the supportable task amounts of the schedulable vehicles in the first vehicle, and then judging whether the task amount M2 of the residual target jobs is smaller than or equal to the total sum M1 of the supportable tasks of the schedulable vehicles in the first vehicle, if yes, then the determined schedulable vehicles are all or part of the vehicles in the first vehicle, sending control instructions to the schedulable vehicles, so that the schedulable vehicles can carry out the residual target jobs according to the control instructions, and enter the judgment cycle of the transport capacity when the schedulable vehicles carry out the residual target jobs according to the control instructions, if no, judging whether a second vehicle is present, namely whether a free vehicle exists in a working area, if not, and then determining that the total sum M2 of the second vehicle is 0, if the total sum M2 of the supportable tasks is present, and if the total sum M2 of the schedulable tasks of the second vehicle is present in the working area, and if the current distance is the maximum value of the total sum M of the schedulable tasks in the first vehicle, and the current distance is gradually increases, the number of the schedulable vehicles in the path distance between the first vehicle and the maximum distance and the first vehicle, judging whether the task amount of the remaining target job is M which is less than or equal to the sum of the sum M1 of the supportable task amounts of the schedulable vehicles in the first vehicle and the sum M2 of the supportable task amounts of the schedulable vehicles in the second vehicle, if the task amount S of the current schedulable task amounts of the schedulable vehicles is judged to be less than the task amount of the remaining target job and the minimum value of the sum M1 of the supportable task amounts of the schedulable vehicles in the first vehicle and the sum M2 of the schedulable task amounts of the schedulable vehicles in the second vehicle is judged, adding the second vehicle with the minimum path distance to the judgment set, and then Judging the transportation capacity (such as the residual electric quantity) of the vehicle, judging whether the vehicle can support to carry out residual target operation or not according to the transportation capacity, namely whether the vehicle can support unit task amount or not, if so, determining that the vehicle is a schedulable vehicle, entering a scheduling set, and carrying out task amount m2 supportable by the schedulable vehicle _j Adding the sum S of the current supportable task amounts to S, then, repeating the process of the second vehicle with the smallest path distance to judge the second vehicle with the next smaller path distance until the task amount of the current supportable task amount S of the schedulable vehicle is not smaller than the sum of the total task amounts M of the schedulable task amounts of the first vehicle and the sum M1 of the schedulable task amounts of the schedulable vehicles in the second vehicle is M, judging whether the task amount M of the residual target job is smaller than or equal to the sum of the sum M1 of the schedulable task amounts of the schedulable vehicles in the first vehicle and the sum M2 of the schedulable task amounts of the schedulable vehicles in the second vehicle when the schedulable vehicles carry out the residual target job according to the control instruction, further judging whether the circulating capacity of the schedulable vehicles is in a third parking area, if the circulating distance between the third vehicle is the third vehicle with the largest path distance is 0, and the third vehicle with the largest path distance is a third vehicle with the largest path distance being gradually increased to the third vehicle with the largest distance being the current distance being 3, and a minimum value of the sum of the supportable task amount sum m1 of the schedulable vehicles in the first vehicle, the supportable task amount sum m2 of the schedulable vehicles in the second vehicle and the supportable task amount sum m3 of the schedulable vehicles in the third vehicle, if not, judging the remaining destination If the task amount of the standard job is M which is less than or equal to the sum of the sum M1 of the supportable task amounts of the supportable vehicles in the first vehicle, the sum M2 of the supportable task amounts of the supportable vehicles in the second vehicle and the sum M3 of the supportable task amounts of the supportable vehicles in the third vehicle, if it is judged that the sum S of the current supportable task amounts of the dispatchable vehicles is less than the task amount of the remaining target job is M, and if it is judged that the sum S of the supportable task amounts of the current supportable vehicles is less than the sum M1 of the supportable task amounts of the supportable tasks of the remaining target jobs of the first vehicle, the sum M2 of the supportable task amounts of the dispatchable vehicles in the second vehicle and the sum M3 of the supportable task amounts of the supportable vehicles in the third vehicle, the third vehicle with the minimum path distance is added to the judgment set, and then the transportation capacity (such as remaining capacity) of the vehicle is judged, if it is judged that the remaining target job is supportable according to the transportation capacity, if it is determined that the vehicle is the dispatchable vehicle, the dispatching set is entered, the supportable task amount is 3 of the dispatchable vehicle _k Adding the sum S of the current supportable task amounts to the sum S, assigning the added result to the sum S, and then repeating the process of the third vehicle with the smallest path distance to judge the third vehicle with the next smallest path distance until the sum S of the current supportable task amounts of the schedulable vehicles is not smaller than the minimum value of the sum M of the supportable task amounts M1 of the schedulable vehicles in the first vehicle, the sum M2 of the supportable task amounts of the schedulable vehicles in the second vehicle and the sum M3 of the supportable task amounts of the schedulable vehicles in the third vehicle, further, it is judged whether the task amount of the remaining target job is M or less than or equal to the sum of the supportable task amount sum M1 of the schedulable vehicles in the first vehicle, the supportable task amount sum M2 of the schedulable vehicles in the second vehicle, and the supportable task amount sum M3 of the schedulable vehicles in the third vehicle, if so, the determined schedulable vehicles are all vehicles in the first vehicle, all vehicles in the second vehicle, and all or part of vehicles in the third vehicle, and if not, the determinable schedulable vehicles are all vehicles in the first vehicle, all vehicles in the second vehicle, and all vehicles in the third vehicle, a control instruction is sent to the schedulable vehicles so that The dispatchable vehicle performs the remaining target job in accordance with the control instruction, and also enters a cycle of determination of the transportation capability when the dispatchable vehicle performs the remaining target job in accordance with the control instruction.

The method and the device are suitable for application scenes of the operation area, when the target vehicle breaks down, the blank of the schedulable vehicle for supplementing the target vehicle is determined, the blank of the scheduling scene of the existing unmanned electric vehicle is supplemented, the schedulable vehicle is used for taking over the target vehicle to finish the rest target operation, the problem of reduced throughput of the operation area caused by the occurrence of the fault of the unmanned electric vehicle in the operation area is solved, and the throughput of the operation area is ensured not to be influenced by the fault vehicle.

As shown in fig. 3, an embodiment of the present invention further provides a vehicle dispatching device, including:

a first determining module 301, configured to determine, in a case where a target vehicle in a work area fails, a candidate vehicle capable of taking over the target vehicle to complete a remaining target work;

a second determining module 302, configured to determine a schedulable vehicle in the candidate vehicles according to a supportable transportation number of the candidate vehicles when the remaining target job is performed;

and the sending module 303 is configured to send a control instruction to at least one schedulable vehicle, so that the schedulable vehicle takes over the target vehicle to complete the remaining target job.

Optionally, the first determining module 301 includes:

Optionally, the candidate vehicle comprises at least one of:

A second vehicle located in the work area and in an idle state;

Optionally, the apparatus further comprises:

Optionally, the third determining module includes:

Optionally, the second determining module 302 includes:

Optionally, the third determining unit is specifically configured to:

Optionally, the fourth determining unit is specifically configured to:

Optionally, the fourth determining unit is specifically further configured to:

Optionally, the sending module 303 includes:

It should be noted that, the vehicle dispatching device provided in the embodiment of the present invention is a device capable of executing the vehicle dispatching method, and all embodiments of the vehicle dispatching method are applicable to the device, and the same or similar technical effects can be achieved.

As shown in fig. 4, an embodiment of the present invention further provides a vehicle dispatching apparatus, including: a processor 401, a memory 402, and a program stored on the memory 402 and executable on the processor 401, which when executed by the processor 401, implements the vehicle scheduling method described above.

Optionally, the method further comprises: a transceiver 403, the transceiver 403 being configured to receive and transmit data under the control of the processor 401.

Specifically, the processor 401 is configured to: in the event of a failure of a target vehicle in a work area, determining a candidate vehicle capable of taking over the target vehicle to complete the remaining target work; and determining the dispatchable vehicles in the candidate vehicles according to the supportable transportation times of the candidate vehicles when the residual target operation is carried out.

The transceiver 403 is configured to: and sending control instructions to at least one schedulable vehicle to cause the schedulable vehicle to take over the target vehicle to complete the remaining target job.

Optionally, the processor 401 is specifically configured to: and determining candidate vehicles capable of taking over the target vehicle to complete the residual target operation according to the order of the preset priorities of the vehicles in different areas of the operation area from high to low.

Optionally, the candidate vehicle comprises at least one of:

A second vehicle located in the work area and in an idle state;

Optionally, the processor 401 is further configured to: and determining supportable transportation times of the candidate vehicle when the residual target operation is performed.

Optionally, the processor 401 is specifically configured to: determining supportable transportation times of the candidate vehicle when the residual target operation is performed according to the current residual electric quantity, the empirical electric quantity, the first electric quantity, the unit-mass unit-distance energy consumption, the electric energy utilization rate, the vehicle body weight, the maximum load quantity of the candidate vehicle, the distance from the position of a target loading area where the target vehicle breaks down to the operation end position corresponding to the residual target operation task, the distance from the operation end position corresponding to the residual target operation task to the position of the target loading area where the target vehicle breaks down and the operation type of the residual target operation;

Optionally, the processor 401 is specifically configured to: determining the supportable task amount of the candidate vehicle when the residual target operation is performed according to the supportable transportation times of the candidate vehicle when the residual target operation is performed;

Optionally, the processor 401 is specifically configured to: determining the supportable task quantity of each candidate vehicle according to supportable transportation times, the residual supportable quantity and a preset unit task quantity accounting value of the candidate vehicle;

Optionally, the processor 401 is specifically configured to: determining that the schedulable vehicle includes a first sub-vehicle in the case where the sum of supportable task amounts of the first sub-vehicles in the first vehicles is determined to be greater than or equal to the task amount of the remaining target job in order of sub-priority of each first vehicle in the candidate vehicles from high to low; the first sub-vehicle is at least one of the first vehicles;

Optionally, the processor 401 is further specifically configured to: determining a sub-priority of each candidate vehicle according to the distance between the current position of each candidate vehicle and the position of a target loading area where the target vehicle breaks down;

Optionally, the transceiver 403 is specifically configured to: and sending the control command to each schedulable vehicle according to the sequence from high to low of the priority corresponding to each schedulable vehicle and the sequence from high to low of the sub-priority corresponding to each schedulable vehicle.

Where in FIG. 4, a bus architecture may comprise any number of interconnected buses and bridges, with one or more processors, represented in particular by processor 401, and various circuits of memory, represented by memory 402, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides a user interface 404. The transceiver 403 may be a number of elements, i.e. comprising a transmitter and a receiver, providing a unit for communicating with various other apparatus over a transmission medium. The processor 401 is responsible for managing the bus architecture and general processing, and the memory 402 may store data used by the processor 401 in performing operations.

In addition, a specific embodiment of the present invention also provides a readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the steps in the vehicle scheduling method as described in any one of the above.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the principles of the present invention, and such modifications and changes are intended to be within the scope of the present invention.

Claims

1. A vehicle scheduling method, characterized by comprising:

2. The vehicle scheduling method according to claim 1, wherein the determining a candidate vehicle that can take over the target vehicle to complete a remaining target job includes:

3. The vehicle scheduling method according to claim 1, characterized in that the candidate vehicle includes at least one of:

a second vehicle located in the work area and in an idle state;

4. The vehicle dispatching method according to claim 1, wherein before the determination of the dispatchable vehicle among the candidate vehicles based on the supportable number of times the candidate vehicle is transported while the remaining target job is performed, the method further comprises:

5. The vehicle scheduling method according to claim 4, wherein the determining the supportable number of times the candidate vehicle is transported while performing the remaining target job includes:

6. The vehicle dispatching method according to claim 1, wherein the determining a dispatchable vehicle among the candidate vehicles according to the supportable number of times the candidate vehicle is transported while the remaining target job is performed, comprises:

7. The vehicle scheduling method according to claim 6, wherein the determining the supportable task amount of the candidate vehicle when the remaining target job is performed based on the supportable transportation times of the candidate vehicle when the remaining target job is performed includes:

8. The vehicle dispatching method of claim 6, wherein the determining a dispatchable vehicle of the candidate vehicles based on the supportable task amount comprises:

9. The vehicle scheduling method according to claim 8, characterized in that the method further comprises:

10. The vehicle dispatching method of claim 1, wherein the sending control instructions to at least one dispatchable vehicle comprises:

11. A vehicle scheduling apparatus, characterized by comprising:

12. A vehicle dispatching apparatus, characterized by comprising: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle scheduling method of any one of claims 1 to 10.

13. A readable storage medium, characterized in that the readable storage medium has stored thereon a program which, when executed by a processor, implements the steps in the vehicle scheduling method according to any one of claims 1 to 10.