TWI773339B - Dispatching system and method for automated guided vehicle - Google Patents

Abstract

A dispatching system is applied for automated guided vehicle and includes a portable electronic device and a host. The portable electronic device allows users to purchase a first product and a second product. The host includes a communication module, a commodity database, a fetching and sorting unit, a path planning module, a demand power evaluation module, and a vehicle dispatching module. The commodity database stores a first and a second commodity information. The fetching sorting unit is used to define a first fetching position, a second fetching position, a first product to be fetched, and a second product to be fetched. The path planning module is used for planning a first retrieval path, a second retrieval path and a destination moving path. The demand power evaluation module is used to calculate an estimated demand power, so that the dispatch module can dispatch the unmanned vehicle accordingly.

Description

Unmanned vehicle dispatch system and method

The present invention relates to an unmanned vehicle dispatching system and method, and more particularly, to an unmanned vehicle dispatching system and method for dispatching an unmanned vehicle according to the estimated electricity demand.

In recent years, in order to reduce the cost of manpower requirements, some shopping malls have been transformed into unmanned shopping malls one after another, and in order to increase the convenience of users when shopping, some unmanned shopping malls will also set up unmanned shopping carts for consumers to use. Make it more convenient for people to shop and consume.

Generally speaking, the existing unmanned shopping carts are usually selected by the user and move with the user. However, in actual use, since most of the users walk around the mall aimlessly and look around, it is easy to Let the unmanned shopping cart have the problem of insufficient power due to the use of it for too long, and even the unmanned shopping cart may not be able to return to the standby area for charging. Instead, additional manpower needs to be arranged to deal with the temporary shutdown of the unmanned shopping cart due to insufficient power. , and will also cause trouble for users.

In view of the fact that in the prior art, when the user uses the unmanned vehicle, he does not particularly consider the power of the unmanned vehicle and visits the shopping mall at will, so the unmanned vehicle is prone to sudden power generation during use. Therefore, the main purpose of the present invention is to provide an unmanned vehicle dispatching system and an unmanned vehicle dispatching method, The required power can be calculated according to the products purchased by the user, and the unmanned vehicle can be dispatched accordingly.

In order to solve the problem of the prior art, the necessary technical means adopted by the present invention is to provide an unmanned vehicle dispatching system, which is applied to a shopping mall, where a plurality of commodities are displayed, and the unmanned vehicle dispatching system includes a portable electronic device and a background host.

The portable electronic device provides a shopping interface for a user to select a first product and a second product among the products, and sends a shopping demand signal accordingly.

The background host includes a communication module, a commodity database, a fetching and sorting unit, a path planning module, a demand power assessment module and a dispatching vehicle module.

The communication module is communicatively connected to the portable electronic device and an unmanned vehicle for receiving the shopping demand signal sent by the portable electronic device and an unmanned vehicle sent by the unmanned vehicle. The position signal of the starting position.

The commodity database stores a plurality of commodity information corresponding to the commodities, each commodity information includes a commodity weight and a commodity position, and the first commodity corresponds to a first commodity weight and a commodity position in the commodity information. A first commodity position, the second commodity corresponds to a second commodity weight and a second commodity position in the commodity information.

The picking and sorting unit is electrically connected to the communication module and the commodity database, and is used to define the first commodity position and the second commodity position which are closer and farther from the starting position of the unmanned vehicle respectively as a A first pick-up location and a second pick-up location, the first product and the second product located at the first pick-up location are further defined as a first product to be picked up, the first product and the second product The one located in the second picking position is further defined as a second commodity to be picked up.

The path planning module is electrically connected to the communication module and the retrieval sorting unit, and is used for planning a first retrieval according to the first retrieval position, the second retrieval position and a preset destination Path, a second fetching path and a destination moving path, the first fetching path extends from the unmanned vehicle starting position to the first fetching position, and the second fetching path is from the first fetching The location extends to the second pickup location, and the destination movement path extends from the second pickup location to the destination.

The electricity demand assessment module is electrically connected to the route planning module and the commodity database, and is used for calculating a first route estimated power consumption parameter according to the first retrieval route, and according to the second retrieval route Calculate a second path estimated power consumption parameter with the weight of the first product, and calculate an estimated power consumption parameter of the destination path according to the destination moving path, the first product weight and the second product weight, and then An estimated demand power is calculated according to the estimated power consumption parameter of the first path, the estimated power consumption parameter of the second path, and the estimated power consumption parameter of the destination path.

The car dispatching module is electrically connected to the electricity demand assessment module and the route planning module, and is used for dispatching the unmanned truck along the first picking path, the second picking route according to the estimated electricity demand. The object path and the destination moving path are sequentially moved to the first picking position, the second picking position and the destination.

In an auxiliary technical means derived from the above-mentioned necessary technical means, the vehicle dispatching module further includes a power comparison unit, and when the at least one unmanned vehicle is plural, the communication module is further used to receive each According to a current electric quantity sent by the unmanned vehicles, the electric quantity comparison unit selects one of the electric quantities that meets the estimated demand according to the current electric quantity of the unmanned vehicles, and dispatches the unmanned vehicles among them. The one that meets one of the estimated power demands is sequentially moved to the first picking position, the second picking position and the destination.

In order to solve the problems of the prior art, another necessary technical means adopted by the present invention is to provide a method for dispatching an unmanned vehicle. The method is applied to a shopping mall where a plurality of commodities are displayed. Contains the following steps (A) to (F).

Step (A) is to use a portable electronic device to provide a shopping interface for a user to select a first commodity and a second commodity from a plurality of commodities, and send a shopping demand signal accordingly.

Step (B) is to select one of a plurality of unmanned vehicle positions according to a first product position corresponding to the first product and a second product position corresponding to the second product as a starting position for unmanned vehicles, and use One of the unmanned vehicles corresponding to one of the departure positions of the unmanned vehicle is defined as a designated unmanned vehicle.

Step (C) is to define the position of the first product and the position of the second product which are closer and farther from the starting position of the unmanned vehicle as a first pick-up location and a second pick-up location, respectively. A commodity and a second commodity in the first pick-up position are defined as a first commodity to be picked up, and the first commodity and the second commodity in the second pick-up position are defined as a second commodity Items to be picked up.

Step (D) is to plan a first fetching path, a second fetching path and a destination moving path according to the shopping demand signal and the departure position of the unmanned vehicle, and the first fetching path starts from the unmanned vehicle The position extends to the first picking position, the second picking path extends from the first picking position to the second picking position, and the destination movement path extends from the second picking position to a predetermined set destination.

Step (E) is to calculate a first path estimated power consumption parameter according to the first picking path, and calculate a second path estimated power consumption parameter according to the second picking path and the weight of the first product, and calculating an estimated power consumption parameter of the destination path according to the destination moving path, the weight of the first product and the weight of the second product, and then according to the estimated power consumption parameter of the first path and the estimated power consumption of the second path An estimated demand power is calculated from the power parameters and the estimated power consumption parameters of the destination route.

Step (F) is to dispatch the designated unmanned vehicle to move to the first fetching position along the first fetching path, the second fetching path and the destination moving path in sequence according to the estimated power demand , the second pickup location, and the destination.

In an auxiliary technical means derived from the above-mentioned necessary technical means, before step (F), it is further compared whether the power of the designated unmanned vehicle meets the estimated demand power, and the power of the designated unmanned vehicle is compared When the estimated demand power is met, dispatch the designated unmanned vehicle to move to the first fetching path, the second fetching path and the destination moving path in sequence according to the estimated power demand The retrieval location, the second retrieval location, and the destination.

The present invention mainly provides a shopping interface for users to select the first product and the second product, and then plans the picking sequence and path according to the positions of the first product and the second product and the position of the unmanned vehicle, and According to this, the estimated demand power is calculated, and then the unmanned vehicle with suitable power is dispatched to move along the first picking path, the second picking path and the destination moving path, so that the present invention can arrange according to the required power A suitable unmanned vehicle is produced to ensure that the unmanned vehicle has enough power to complete the movement of the entire shopping path, and that the unmanned vehicle can return to the origin to charge itself without increasing the work of other staff.

The specific embodiments adopted in the present invention will be further described by the following embodiments and drawings.

Please refer to the first and second figures, the first figure shows the system block diagram of the unmanned vehicle dispatching system provided by the preferred embodiment of the present invention; the second figure shows the unmanned vehicle provided by the preferred embodiment of the present invention. Schematic diagram of the application of the truck dispatch system in the shopping mall. As shown in the first and second figures, an unmanned vehicle dispatching system 100 includes a portable electronic device 1 and a background host 2 . Among them, the unmanned vehicle dispatch system 100 is applied to a shopping mall (not shown in the figure, that is, the second picture), and the shopping mall is equipped with a plurality of commodities (not shown in the figure), and the shopping mall also has a first unmanned vehicle parking area SA1 and a second unmanned vehicle parking area SA2; in this embodiment, the first unmanned vehicle parking area SA1 is used for parking two unmanned vehicles 200 (only one is marked in the figure), and the second unmanned vehicle parking area SA2 It is used for parking two unmanned trucks 300 (only one is marked in the figure).

The portable electronic device 1 includes a shopping interface 11 and a wireless communication unit 12. The shopping interface 11 is for a user to select a first product and a second product among the above-mentioned plurality of products, and send out the product accordingly. A shopping demand signal (not shown). Among them, in practical application, the portable electronic device 1 is, for example, a smart phone, which can display the shopping interface 11 by using the touch screen, so that the user can choose the first product and the second product from a plurality of products. . In addition, although in this embodiment, the portable electronic device 1 is a smart phone, in other embodiments, it is not limited to this, and it can also be a tablet computer or a palmtop computer, which can display products and allow users to choose Purchased smart electronic devices.

The backend host 2 includes a communication module 21 , a commodity database 22 , a fetching and sorting unit 23 , a path planning module 24 , a power demand assessment module 25 and a dispatching vehicle module 26 . The communication module 21 is communicatively connected to the wireless communication unit 12 of the portable electronic device 1 and the two unmanned vehicles 200 and 300 for receiving the shopping demand signal sent by the portable electronic device 1 and the unmanned vehicle 200 And the position signal sent by 300 carries the starting position of an unmanned vehicle (not shown). In addition, the unmanned vehicles 200 and 300 each have a battery module 201 and a battery module 301 , so as to detect the current power of the unmanned vehicles 200 and 300 .

The commodity database 22 stores a plurality of commodity information 221 (only one is marked in the figure) corresponding to the above-mentioned commodities, and each commodity information 221 includes a commodity weight (not shown in the figure) and a commodity position (not shown in the figure); In this embodiment, the first commodity and the second commodity respectively correspond to a first commodity information and a second commodity information among the plurality of commodity information 221, and the first commodity information includes a first commodity weight and a first commodity information. A commodity position C1, and the second commodity information includes a second commodity weight and a second commodity position C2.

The picking and sorting unit 23 is electrically connected to the communication module 21 and the commodity database 22, and is used to define the first commodity position C1 and the second commodity position C2 which are closer and farther from the departure position of the unmanned vehicle as a A first pick-up position and a second pick-up position, and the one located at the first pick-up position among the first commodity and the second commodity is defined as a first commodity to be picked up, and the first commodity and the second commodity located in the The second pick-up location is defined as a second item to be picked up. In this embodiment, the unmanned vehicles 200 and 300 are respectively parked in the first unmanned vehicle parking area SA1 and the second unmanned vehicle parking area SA2. Therefore, compared with the first commodity position C1 and the second commodity position C2, the The second unmanned vehicle parking area SA2 is closer to the second commodity position C2 than the first unmanned vehicle parking area SA1, so in this embodiment, the second unmanned vehicle parking area SA2 is defined as the starting position of the unmanned vehicle, and The unmanned vehicle 300 is defined as the designated unmanned vehicle, the second commodity position C2 which is closer to the departure position of the unmanned vehicle is defined as the first picking position, and the first commodity position C1 which is farther from the departure position of the unmanned vehicle is defined It is defined as the second picking position.

The path planning module 24 is electrically connected to the communication module 21 and the retrieval sorting unit 23 for planning a first retrieval according to the first retrieval position, the second retrieval position and a preset destination TP Path P1, a second fetching path P2 and a destination moving path P3, the first fetching path P1 extends from the departure position of the unmanned vehicle to the first fetching position, and the second fetching path P2 is from the first fetching The position extends to the second pickup position, and the destination movement path P3 extends from the second pickup position to the destination TP. In this embodiment, the destination TP is, for example, a checkout area of a shopping mall.

The electricity demand evaluation module 25 is electrically connected to the path planning module 24 and the commodity database 22, and is used for calculating a first path estimated power consumption parameter according to the first picking path P1, and according to the second picking path P1 P2 and the weight of the first product calculate an estimated power consumption parameter of the second path, and calculate an estimated power consumption parameter of the destination path according to the destination moving path P3, the weight of the first product and the weight of the second product, and then according to the first An estimated demand power is calculated from the estimated power consumption parameter of the path, the estimated power consumption parameter of the second path, and the estimated power consumption parameter of the destination path.

Continuing from the above, the estimated power consumption parameter of the first path is a power consumption calculation parameter for calculating the length of the distance for the unmanned vehicle 300 to complete the first picking path P1. When the vehicle parking area SA2 moves to the second commodity position C2 (the first picking position), it does not carry any commodity, but since the unmanned vehicle 300 itself has a certain weight, the estimated power consumption parameter of the first path can be determined by The distance length of the first picking path P1 is calculated from the weight of the unmanned vehicle 300 itself.

The second path estimated power consumption parameter is a power consumption calculation parameter for calculating the length of the distance for the unmanned vehicle 300 to complete the second picking path P2. When the pick-up location) departs, the first item to be picked up (the second item) has already been loaded, so the calculation of the estimated power consumption parameter of the second path is based on the distance length of the second path P2, the weight of the second item and the unmanned load. Calculate the weight of the vehicle 300 itself.

The estimated power consumption parameter of the destination path is a power consumption calculation parameter for calculating the length of the distance for the unmanned vehicle 300 to complete the destination moving path P3. The first item to be picked up (the second item) and the second item to be picked up (the first item) are already loaded at the time of departure), so the calculation of the estimated power consumption parameter of the destination path is the distance of the destination moving path P3. The length is calculated from the weight of the first product, the weight of the second product, and the weight of the unmanned vehicle 300 itself.

For example, the distance length of the first picking path P1 is, for example, 100 meters, the distance length of the second picking path P2 is, for example, 100 meters, and the distance length of the destination moving path P3 is, for example, 150 meters. The weight of the cart 300 itself is 5kg, the weight of the first product is 1kg, and the weight of the second product is 2kg, so the estimated power consumption parameter of the first path is, for example, 5kg x 100m, and the estimated power consumption parameter of the second path is, for example, 7kg x 100m, the estimated power consumption parameter of the destination path is, for example, 8kg x 150m; in addition, in this embodiment, the power consumption of the unmanned vehicle 300 is, for example, every 1% of the power can load 1kg and move 100m, so the first path is estimated The power consumption parameter of 5kg x 100m consumes about 5% of the power, the estimated power consumption parameter of the second route of 7kg x 100m consumes about 7% of the power, and the estimated power consumption parameter of the destination route consumes about 12% of the power. Therefore, the estimated demand for electricity is 24% of electricity.

The car dispatching module 26 is electrically connected to the electricity demand evaluation module 25, and is used for dispatching the unmanned truck along the first picking route, the second picking route and the destination moving route in sequence according to the estimated electricity demand. Move to the first pickup location, the second pickup location, and the destination. In this embodiment, the dispatching module 26 further has a power comparison unit 261 , and the power comparison unit 261 uses the communication module 21 to receive the current data sent by each of the two unmanned vehicles 200 and the two unmanned vehicles 300 . The electric quantity, the electric quantity comparison unit 261 further selects one of the electric quantity that meets the estimated demand power according to the current electric quantity of the unmanned vehicles 200 and 300, and dispatches the unmanned vehicle which meets the one of the estimated electric quantity of demand in sequence. Move to the first picking position, the second picking position and the destination in sequence along the first picking path, the second picking path and the destination moving path.

For example, the electricity of the two unmanned vehicles 200 is 60% and 80% respectively, and the electricity of the two unmanned vehicles 300 is 70% and 50%, respectively. Both the trucks 200 and 300 meet the requirements, so the unmanned truck 300 closest to the second commodity position C2 is defined as the designated unmanned truck. In addition, in practical application, when evaluating the power of the unmanned vehicle 200 or 300, the power comparison unit 261 needs to consider whether it meets the estimated demand power, and also needs to meet the basic operation power, such as the preset power in this embodiment. It is estimated that the electricity demand is 24%, and the basic operating electricity is 10%, then the dispatched unmanned vehicle 200 or 300 needs to have more than 34% of the electricity.

Please continue to refer to the third figure, the third figure is a flow chart showing the steps of the unmanned vehicle dispatching system provided by the preferred embodiment of the present invention. As shown in Figures 1 to 3, the method for dispatching an unmanned vehicle includes the following steps S101 to S106.

Step S101 is to use the portable electronic device 1 to provide a shopping interface 11 for a user to select a first commodity and a second commodity from a plurality of commodities, and send a shopping demand signal accordingly.

Step S102 is to select one of the plurality of unmanned vehicle positions as the unmanned vehicle departure position according to the first commodity position and the second commodity position, and define one of the plurality of unmanned trucks corresponding to the unmanned vehicle departure position as the designated one. Unmanned truck.

Step S103 is to define the position of the first commodity and the position of the second commodity which are closer and farther from the departure position of the unmanned vehicle as the first picking position and the second picking position, respectively, and the first commodity and the second commodity are located in the position. The person at the first pick-up position is defined as the first item to be picked up, and the person at the second pick-up position among the first item and the second item is defined as the second item to be picked up.

Step S104 is to plan a first picking path P1, a second picking path P2 and a destination moving path P3 according to the shopping demand signal and the departure position of the unmanned vehicle. The first picking path P1 extends from the starting position of the unmanned vehicle to the first picking path P3. The picking position and the second picking path P2 extend from the first picking position to the second picking position, and the destination moving path P3 extends from the second picking position to a predetermined destination.

Step S105 is to calculate a first path estimated power consumption parameter according to the first picking path P1, and calculate the second path estimated power consumption parameter according to the second picking path P2 and the weight of the first product, and according to the destination. The moving path P3, the weight of the first product and the weight of the second product calculate an estimated power consumption parameter of the destination path, and then estimate the power consumption parameter of the first path, the estimated power consumption parameter of the second path and the estimated destination path according to the estimated power consumption parameter of the first path. The power consumption parameter calculates an estimated demand power.

Step S106 is to dispatch the designated unmanned vehicle according to the estimated power demand to sequentially move to the first fetching position and the second fetching path along the first fetching path P1, the second fetching path P2 and the destination moving path P3. location and destination.

To sum up, because the user does not particularly consider the power of the unmanned vehicle when using the existing unmanned vehicle, and visits the shopping mall at will, it is easy for the unmanned vehicle to suddenly generate electricity during the use of the vehicle. Insufficient problem, and then the shopping operation cannot be performed smoothly, and even other staff are required to assist, which is very inconvenient. Compared with this, the present invention mainly provides a shopping interface for the user to select the first product and the second product. Then, according to the position of the first commodity and the second commodity and the position of the unmanned vehicle, plan the order and route of picking up the goods, and calculate the estimated demand power accordingly, and then dispatch the unmanned vehicle with suitable power along the way. The first picking path, the second picking path and the destination moving path move, whereby the present invention can dispatch a suitable unmanned vehicle according to the required power, thereby ensuring that the unmanned vehicle has enough power to complete the entire operation. The movement of the shopping path can also enable the unmanned vehicle to return to the origin to charge itself without increasing the work of other staff.

Through the detailed description of the preferred embodiments above, it is hoped that the features and spirit of the present invention can be described more clearly, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various modifications and equivalent arrangements within the scope of the claimed scope of the present invention.

100: Unmanned Vehicle Dispatching System 1: Portable electronic device 11: Shopping interface 12: Wireless communication unit 2: Backend host 21: Communication module 22: Product Database 221: Product Information 23: fetch sorting unit 24: Path Planning Module 25: Demand power assessment module 26: Dispatch module 261: Electricity comparison unit 200,300: Unmanned vehicle 201,301: Battery Modules SA1: The first unmanned vehicle parking area SA2: Second unmanned vehicle parking area C1: The first commodity position C2: Second commodity position TP: destination P1: The first retrieval path P2: The second retrieval path P3: Destination movement path

The first figure shows a system block diagram of the unmanned vehicle dispatching system provided by the preferred embodiment of the present invention; The second figure is a schematic plan view showing that the unmanned vehicle dispatching system provided by the preferred embodiment of the present invention is applied to a shopping mall; and The third figure is a flow chart showing the steps of the unmanned vehicle dispatching system provided by the preferred embodiment of the present invention.

100: Unmanned Vehicle Dispatching System

1: Portable electronic device

11: Shopping interface

12: Wireless communication unit

2: Backend host

21: Communication module

22: Product Database

221: Product Information

23: fetch sorting unit

24: Path Planning Module

25: Demand power assessment module

26: Dispatch module

261: Electricity comparison unit

200,300: Unmanned vehicle

201,301: Battery Modules

Claims (4)

An unmanned vehicle dispatching system is applied to a shopping mall where a plurality of commodities are displayed, and the unmanned vehicle dispatching system includes: a portable electronic device that provides a shopping interface for a user to select a first product and a second product among the products, and sends a shopping demand signal accordingly; and A backend host, including: A communication module is communicatively connected to the portable electronic device and at least one unmanned vehicle for receiving the shopping demand signal sent by the portable electronic device and the signal sent by the at least one unmanned vehicle 1. a position signal containing the starting position of an unmanned vehicle; A commodity database stores a plurality of commodity information corresponding to the commodities, each of the commodity information includes a commodity weight and a commodity position, and the first commodity corresponds to a first commodity in the commodity information weight and a first commodity position, the second commodity corresponds to a second commodity weight and a second commodity position in the commodity information; A fetching and sorting unit is electrically connected to the communication module and the commodity database, and is used to define the first commodity position and the second commodity position which are closer and farther from the starting position of the unmanned vehicle, respectively. is a first pick-up position and a second pick-up position, and the one located in the first pick-up position among the first commodity and the second commodity is more defined as a first commodity to be picked up, the first commodity and the second Among the two commodities, the one located at the second pick-up position is further defined as a second commodity to be picked up; A path planning module is electrically connected to the communication module and the picking sorting unit, and is used for planning a first picking position according to the first picking position, the second picking position and a preset destination A retrieval path, a second retrieval path and a destination movement path, the first retrieval path is extended from the unmanned vehicle starting position to the first retrieval position, and the second retrieval path is from the first retrieval path. The retrieval position extends to the second retrieval position, and the destination movement path extends from the second retrieval position to the destination; A demand electricity estimation module is electrically connected to the route planning module and the commodity database, and is used for calculating an estimated power consumption parameter of a first route according to the first fetching route, and according to the second fetching route Calculate a second path estimated power consumption parameter based on the object path and the first product weight, and calculate a destination path estimated power consumption parameter according to the destination moving path, the first product weight and the second product weight , and then calculate an estimated demand power according to the estimated power consumption parameter of the first path, the estimated power consumption parameter of the second path and the estimated power consumption parameter of the destination path; and A dispatching vehicle module is electrically connected to the electricity demand assessment module and the route planning module, and is used for dispatching the at least one unmanned truck along the first picking route, the route planning module according to the estimated electricity demand. The second picking path and the destination moving path move to the first picking position, the second picking position and the destination in sequence. The unmanned vehicle dispatching system according to claim 1, wherein the vehicle dispatching module further includes a power comparison unit, and when the at least one unmanned vehicle is plural, the communication module is further used for receiving A current electric quantity sent by each of the unmanned vehicles, the electric quantity comparison unit further selects one of the electric quantities that meets the estimated demand according to the current electric quantity of the unmanned vehicles, and dispatches the unmanned vehicles The vehicle that meets one of the estimated power requirements sequentially moves to the first picking position and the second picking position along the first picking path, the second picking path and the destination moving path. and the destination. An unmanned vehicle dispatching method is implemented by an unmanned vehicle dispatching system, and applied to a shopping mall, where a plurality of commodities are displayed. The unmanned vehicle dispatching method comprises the following steps: (A) using a possible The portable electronic device provides a shopping interface for a user to select a first product and a second product from the products, and sends a shopping demand signal accordingly; (B) according to a correspondence with the first product The first product position of the product and a second product position corresponding to the second product are selected from a plurality of unmanned vehicle positions as a starting position of the unmanned vehicle, and a plurality of unmanned trucks corresponding to the unmanned vehicle are selected. One of the departure positions is defined as a designated unmanned vehicle; (C) the first commodity position and the second commodity position are respectively defined by using a pickup sorting unit which is closer and farther from the departure position of the unmanned vehicle For a first picking position and a second picking position, the first product and the second product which are located in the first picking position are defined as a first product to be picked up, and the first product and the second product are defined as a first product to be picked up. One of the second commodities located at the second pickup position is defined as a second commodity to be picked up; (D) using a route planning module to plan a first pickup route according to the shopping demand signal and the departure position of the unmanned vehicle , one second A retrieval path and a destination movement path, the first retrieval path extends from the unmanned vehicle starting position to the first retrieval position, and the second retrieval path extends from the first retrieval position to the first retrieval position. Two picking positions, the destination movement path extends from the second picking position to a preset destination; (E) using a power demand evaluation module to calculate a first path according to the first picking path Estimate the power consumption parameter, and calculate a second path estimated power consumption parameter according to the second retrieval path and the weight of the first product, and calculate the estimated power consumption parameter of the second path according to the destination moving path, the weight of the first product and the second product Calculate an estimated power consumption parameter of the destination route by weight, and then calculate an estimated demand according to the estimated power consumption parameter of the first route, the estimated power consumption parameter of the second route and the estimated power consumption parameter of the destination route and (F) using a dispatching module to dispatch the designated unmanned vehicle to move to the destination along the first picking path, the second picking path and the destination moving path in sequence according to the estimated demand power The first pickup location, the second pickup location, and the destination. The method for dispatching an unmanned vehicle according to claim 3, wherein, before step (F), a power comparison unit is used to compare whether the power of the designated unmanned vehicle meets the estimated demand power, and When the power of the designated unmanned vehicle meets the estimated demand power, the dispatching module dispatches the designated unmanned vehicle along the first picking path and the second picking path in sequence according to the estimated power demand and the destination moving path is moved to the first picking position, the second picking position and the destination.

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