WO2020010859A1 - 实现自动运输货物的系统及相关设备 - Google Patents

实现自动运输货物的系统及相关设备 Download PDF

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Publication number
WO2020010859A1
WO2020010859A1 PCT/CN2019/077055 CN2019077055W WO2020010859A1 WO 2020010859 A1 WO2020010859 A1 WO 2020010859A1 CN 2019077055 W CN2019077055 W CN 2019077055W WO 2020010859 A1 WO2020010859 A1 WO 2020010859A1
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Prior art keywords
loading
unloading
vehicle
autonomous
control device
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PCT/CN2019/077055
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English (en)
French (fr)
Inventor
吴楠
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北京图森未来科技有限公司
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Publication date
Application filed by 北京图森未来科技有限公司 filed Critical 北京图森未来科技有限公司
Priority to US17/259,867 priority Critical patent/US20210339775A1/en
Priority to AU2019302312A priority patent/AU2019302312A1/en
Priority to EP19833929.3A priority patent/EP3822722A4/en
Publication of WO2020010859A1 publication Critical patent/WO2020010859A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00256—Delivery operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Definitions

  • the invention relates to the field of automatic driving, and particularly to a system and related equipment for realizing automatic transportation of goods.
  • the containers on the ship are transported to the yard by trucks in the port area, and the containers from the yard are transported to the ship.
  • the trucks in the port area are driven by truck drivers, and the truck drivers cannot work 24 hours a day. Therefore, a truck needs to be equipped with at least 2-3 truck drivers. Due to the large number of trucks in the port area, the truck drivers are required. There are a large number of people, not only the cost is high, but also the number of vehicles and containers in the port area, and the working environment of truck drivers is more dangerous. Therefore, how to achieve fully automated cargo transportation in the port area to reduce costs has become an urgent need. Solved technical problems.
  • the present invention provides a system and related equipment for automatically transporting goods to achieve full automation in specific areas (e.g., Linhai Port Area, Highway Port Area, Mining Area, Large Warehouse, Cargo Distribution Center, Park, Logistics Center, etc.) Purpose of cargo transportation.
  • specific areas e.g., Linhai Port Area, Highway Port Area, Mining Area, Large Warehouse, Cargo Distribution Center, Park, Logistics Center, etc.
  • An embodiment of the present invention provides a system for automatically transporting goods.
  • the system includes a management system, a loading and unloading control device, and an automatic driving control device provided on an automatic driving vehicle, wherein:
  • a management system for managing cargo information and the transport status of autonomous vehicles generating transport tasks based on the cargo information and the transport status of each autonomous vehicle, and sending each transport task to a matching automatic driving control device of the autonomous vehicle;
  • An automatic driving control device configured to control an autonomous vehicle to complete transportation according to the transportation task when a transportation task is received;
  • Loading and unloading control equipment is used to control the loading and unloading equipment for automatic loading and unloading of autonomous vehicles.
  • communication management is performed between a management system, an automatic driving control device on an autonomous driving vehicle, and a loading and unloading control device, so as to realize automatic transportation of goods by the autonomous driving vehicle in a specific area and a specific area (for example, in Linhai Port Area, mining area, highway port area, warehouse, cargo distribution center, park, etc.), there is no need to configure a truck driver for each truck to reduce the cost.
  • FIG. 1 is a schematic structural diagram of a system for automatically transporting goods in an embodiment of the present invention.
  • the technical solution of the present invention can be applied in some specific areas, such as a coastal port area, a highway port area, a mining area, a cargo distribution center, a warehouse, a park, a logistics center, etc.
  • the application scenario of the technical solution of the present invention is not strictly limited.
  • the self-driving vehicle may be all loading tools with an automatic driving function, and may include, for example, a truck, a van, an AGV (Automated Guided Vehicle), a crane, a forklift, a tire crane, a front crane, etc
  • AGV Automated Guided Vehicle
  • This application does not strictly limit the types of autonomous vehicles.
  • the loading and unloading equipment may be a bridge crane (ie, a shore crane), a track crane, a tire crane, a tower crane, a front crane, a crane, a crane, a robot, a forklift, etc.
  • the structure of the loading and unloading equipment is not strictly limited in this application.
  • FIG. 1 is a schematic structural diagram of a system for realizing automatic transportation of goods in an embodiment of the present invention.
  • the system includes a management system 1, an automatic driving control device provided on an autonomous vehicle 2, and a device for controlling one or more loading and unloading equipment.
  • Handling control equipment 3 of which:
  • Management system 1 for managing cargo information and the transportation status of autonomous vehicles; generating transportation tasks based on the cargo information and the transportation status of each autonomous vehicle, and sending each transportation task to the automatic driving control device 2 of the matching autonomous vehicle ;
  • An automatic driving control device 2 configured to control an autonomous driving vehicle to complete transportation according to the transportation task when a transportation task is received;
  • a loading and unloading control device 3 is used to control the loading and unloading equipment to automatically load and unload an autonomous vehicle.
  • the automatic driving control device 2 may be provided in a vehicle-mounted DSP (Digital Signal Processing), a FPGA (Field-Programmable Gate Array) controller, an industrial computer, and a driving computer.
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • industrial computer an industrial computer
  • driving computer a driving computer.
  • ECU Electronic Control Unit
  • VCU Vehicle Control Unit
  • the loading and unloading control device 3 may be a computer server provided on the loading and unloading device, such as a DSP, an FPGA controller, an industrial computer, a tablet computer, or a PC. An operator may control the loading and unloading device for loading and unloading by operating the computer server.
  • the loading and unloading control device 3 can also be a remote control device for wireless communication, and an operator can remotely control the loading and unloading device through the remote control device, which is not strictly limited in this application.
  • the management system 1 may be a computer server disposed in a specific area, such as a DSP, an FPGA controller, an industrial computer, a tablet computer, or a PC, etc., which is not strictly limited in this application.
  • the cargo information managed by the management system 1 may include basic information of all the goods contained in the logistics center, and the basic information may include but is not limited to any one or more of the following: cargo type, cargo ID number, cargo owner, cargo source, cargo Storage time, current storage location of the goods, the destination of the goods, and the time limit for the goods to reach the destination.
  • the identification information and vehicle type (such as a container truck, a van, an AGV, a forklift, a crane, etc.) of each autonomous vehicle may be stored in the management system 1 in advance.
  • the autonomous driving vehicle periodically synchronizes the transportation status of the autonomous driving vehicle (the transportation status includes the position information of the autonomous driving vehicle and the vehicle status information (such as status information such as busy status, idle status, etc.)) to the management system 1.
  • the management system 1 generates a transportation task according to the cargo information and the transportation status of each autonomous vehicle, and sends each transportation task to the automatic driving control device of the matching autonomous vehicle, which can be specifically implemented through, but not limited to, the following methods: Transport goods, determine matching conditions based on the cargo information of the goods to be transported, and select one of the autonomous driving vehicles that meets the matching conditions from the autonomous vehicle under its jurisdiction as an autonomous driving vehicle that matches the goods to be transported, A transport task corresponding to the cargo to be transported is generated based on the cargo information of the cargo to be transported and a matching autonomous driving vehicle.
  • the transportation task may include, but is not limited to, any one or more of the following information: cargo type, cargo ID number, cargo outbound time, cargo transportation starting point, cargo transportation end point, and ID information of the matching autonomous driving vehicle.
  • the matching condition may be, for example, a type of a cargo that a type of the vehicle can transport the cargo to be transported, and a vehicle state of the autonomous driving vehicle is an idle state.
  • Screening out one of the autonomous driving vehicles that meets the matching conditions from the autonomous driving vehicles under its jurisdiction as the autonomous driving vehicle corresponding to the transportation plan matching may specifically include: selecting the vehicle type from the autonomous driving vehicle may The first group of self-driving vehicles that transports the types of goods in the transportation plan; the second group of self-driving vehicles whose vehicle status is idle is screened from the first group of self-driving vehicles; if the second group of self-driving vehicles contains only one If it is a self-driving vehicle, the auto-driving vehicle is directly determined as the self-driving vehicle matching the transportation plan; if the second group of self-driving vehicles includes multiple self-driving vehicles, the current group is selected from the second group of self-driving vehicles.
  • the self-driving vehicle whose position is closest to the starting point of the cargo transportation in the transportation plan is regarded as the self-driving vehicle matching the transportation plan; if the second group of self-driving vehicles is zero, the cargo is selected from the first group of self-driving vehicles.
  • Autonomous vehicle with the closest distance between the end of the transport and the start of the transport of the goods in the transport plan A self-driving vehicle matching the transportation plan.
  • the starting point of the cargo transportation may be a storage position of the cargo to be transported; or, the starting point of the cargo transportation may be a loading position corresponding to the storage position of the cargo to be transported, for example, a logistics center includes a large number of storage yards, and each storage yard corresponds to One or more loading locations, using one loading location of the storage yard where the storage location of the goods to be transported is used as the starting point for freight transportation; for example, a logistics center contains a large number of warehouses, and the doorway location of the warehouse is the loading of the warehouse The position of the doorway of the warehouse where the storage location of the goods to be transported is determined as the starting point of the transport of the goods is not strictly limited in this application.
  • the cargo transportation destination may be a transportation destination of the cargo to be transported.
  • the automatic driving control device 2 sends a transportation task to the management system 1 when the transportation task is completed. Completion message; when receiving the transport task completion message, the management system 1 updates the cargo information and the transport status of the corresponding autonomous vehicle according to the completed transport task.
  • the automatic driving control device in order to update the transportation status of the autonomous vehicle in the management system 1 in a timely manner, in the embodiment of the present invention, the automatic driving control device periodically sends the position information of the autonomous vehicle to the management system 1; the management system 1 Update the transportation status of the corresponding autonomous vehicle according to the received position information.
  • the "loading and unloading position” refers to a location area that can be used for both unloading and loading.
  • the "loading and unloading position” is called “loading position”
  • the "loading and unloading position” is called “unloading position”.
  • the transportation task may include a loading position (which may be the starting point of the transportation of the cargo), and the automatic driving control device 2 controls the autonomous vehicle to complete the transportation task according to the transportation task.
  • Transportation specifically includes: the automatic driving control device 2 controls the automatic driving vehicle to drive from the current position to the loading position; and when it is determined that the loading is completed, controls the automatic driving vehicle to leave the loading position.
  • the transportation task indicates unloading the cargo to the cargo transportation end point
  • the transportation task may include an unloading position (which may be the foregoing cargo transportation end point), and the automatic driving control device 2 controls the automatic driving vehicle to complete the transportation according to the transportation task.
  • the method includes: the automatic driving control device 2 controls the automatic driving vehicle to drive from the current position to the unloading position; when it is determined that the unloading is completed, the automatic driving vehicle is controlled to leave the unloading position.
  • the transport task represents loading to the starting point of the cargo transportation and pulling the cargo to the end point of the cargo transportation for unloading.
  • the transport task may include a loading location (which may be the aforementioned cargo transportation starting point) and an unloading location (which may be The aforementioned cargo transportation end point), the automatic driving control device 2 controls the automatic driving vehicle to complete transportation according to the transportation task, and may specifically include: the automatic driving control device 2 controls the automatic driving vehicle to drive from the current position to the loading Position; when it is determined that the loading is completed, control the autonomous driving vehicle to travel from the loading position to the unloading position; when it is determined that the loading is completed, control the autonomous vehicle to drive away from the unloading position.
  • the automatic driving control device 2 controls the automatic driving vehicle to drive from the current position to the loading position, which may be specifically but not limited to: The automatic driving control device 2 determines the current position as the starting point and The first driving route with the loading position as the end point is controlled, and the autonomous driving vehicle is controlled to drive from the current position to the loading position according to the first driving route.
  • the automatic driving control device 2 determines the first driving route, and the automatic driving control device 2 may plan and obtain the first driving route according to locally stored map data; or the management system 1 may also determine the first driving route according to the local storage.
  • the map data is planned to obtain the first driving route, and the first driving route is loaded in a transportation task, and the automatic driving control device 2 obtains the first driving route from the transportation task. Therefore, in the embodiment of the present invention, the automatic driving control device 2 determines the driving route with the current position as the starting point and the loading position as the ending point, which can be specifically but not limited to any one of the following modes (mode A1 to mode A2) achieve:
  • the automatic driving control device 2 uses the current position as a starting point and the loading position as an end point, and plans a first driving route from the starting point to the end point according to pre-stored map data.
  • the automatic driving control device 2 may plan the driving route by its own navigation software, or the automatic driving control device 2 may call a third-party map software to plan the first driving route.
  • the automatic driving control device 2 obtains a first driving route from the current position to the loading position from the transportation task.
  • the first driving route is constituted by waypoints constituting the first driving route
  • the automatic driving control device 2 sequentially displays the waypoints in the transportation task on a local map, and displays the first driving route on the local map.
  • a driving route is a navigation route, which controls the vehicle from the current position to the loading position.
  • the automatic driving control device 2 controls the automatic driving vehicle to travel from the loading position to the unloading position, which may be specifically but not limited to: The automatic driving control device 2 determines the loading position as the starting point and The second driving route with the unloading position as an end point, and controls the autonomous vehicle to drive from the loading position to the unloading position according to the second driving route. The automatic driving control device 2 determines the second driving route with the loading position as the starting point and the unloading position as the end point. For specific implementation principles, refer to the foregoing manners A1 to A2, and details are not described herein again.
  • the aforementioned automatic driving control device 2 determines that the loading is completed, and may be specifically implemented by, but not limited to, any of the following modes (mode B1 to mode B5):
  • Manner B1 When receiving an instruction from the loading / unloading control device 3 for instructing completion of loading of the autonomous vehicle, it is determined that loading is completed.
  • the loading control device 3 when the loading and unloading control device 3 determines that the loading and unloading of the autonomous vehicle has been completed, the loading control device 3 sends an instruction to the autonomous driving control device 2 of the autonomous vehicle to instruct the loading completion of the autonomous vehicle. .
  • the automatic driving control device 2 and the loading / unloading control device 3 can communicate.
  • the management system 1 determines that the loading and unloading equipment has completed loading of the autonomous vehicle, it sends an instruction to the autonomous driving vehicle 2 to instruct the loading completion of the autonomous vehicle.
  • the management system 1 determines that the loading and unloading equipment has completed loading of the autonomous driving vehicle, which may be specifically but not limited to:
  • the management system 1 receives an instruction from the loading and unloading control device 3 for instructing the loading completion of the autonomous vehicle to determine the loading Loading of autonomous vehicles is complete.
  • Method B3 When it is determined that the gravity value output by the gravity sensor installed on the autonomous driving vehicle is greater than or equal to a preset gravity threshold and the gravity value does not change within a preset time period, it is determined that the loading is completed.
  • a gravity sensor may be provided on the truck panel of the autonomous vehicle, and whether the loading is completed is determined by judging the change of the gravity value output by the gravity sensor.
  • Method B4 An image of an electronic screen located near the loading position is collected by an on-vehicle camera provided on the autonomous driving vehicle, and a preset image recognition algorithm is used to identify the content in the image to obtain an instruction for the automatic driving. Notification of vehicle loading completion.
  • an electronic screen is provided near each loading position.
  • an electronic screen is displayed on the electronic screen to indicate that the loading of the autonomous vehicle is completed.
  • Notification message For example, on the electronic screen, "the license plate number is *****, the loading is completed", or the "loading completed” message is displayed.
  • Manner B5 Use a preset voice model to identify a notification message broadcast by a voice announcer and used to indicate completion of loading of the autonomous vehicle.
  • a voice announcer may be provided near the loading position.
  • the voice announcer is used to announce the completion of loading of the autonomous vehicle. Notification message.
  • the announcement voice is "The license plate number is *****, loading is complete", or the announcement voice is "Loading Complete”.
  • the automatic driving control device 2 determines that the unloading is completed, which can be specifically implemented by, but not limited to, any one of the following modes (mode C1 to mode C5):
  • Manner C1 When receiving an instruction from the loading and unloading control device 3 for instructing completion of the unloading of the autonomous vehicle, it is determined that the unloading is completed.
  • Manner C2 When receiving an instruction from the management system 1 indicating completion of the unloading of the autonomous vehicle, it is determined that the unloading is completed.
  • the management system 1 determines that the unloading equipment has finished unloading the autonomous vehicle, it sends an instruction to the autonomous driving vehicle 2 to instruct the autonomous vehicle to complete the unloading.
  • the management system 1 determines that the loading and unloading equipment completes the unloading of the autonomous driving vehicle, which can be specifically implemented by, but not limited to, the following manner:
  • the management system 1 receives an instruction from the loading and unloading control device 3 for instructing the unloading of the autonomous driving vehicle to complete the unloading The vehicle was unloaded.
  • a gravity sensor may be provided on the truck panel of the autonomous driving vehicle, and whether the unloading is completed is determined by judging the change of the gravity value output by the gravity sensor.
  • Method C4 An image of an electronic screen located near the unloading position is collected by an on-board camera provided on the autonomous vehicle, and the content in the image is identified by using a preset image recognition algorithm to obtain an instruction for the autonomous vehicle Notification of completion of unloading.
  • an electronic screen is provided at each unloading position, and when the unloading of the autonomous driving vehicle stopped at the unloading position is completed, a notification message indicating the unloading completion of the autonomous driving vehicle is displayed on the electronic screen. For example, on the electronic screen, "the license plate number is *****, unloading is completed", or the message "unloading is completed” is displayed.
  • Method C5 Use a preset voice model to identify a notification message broadcast by a voice announcer and used to indicate completion of the unloading of the autonomous vehicle.
  • a voice announcer may be provided near the unloading position.
  • a notification message indicating the completion of the unloading of the autonomous driving vehicle is broadcasted through the voice announcer.
  • the announcement voice is "The license plate number is *****, the unloading is completed", or the announcement voice is "The unloading is completed”.
  • each loading and unloading device corresponds to at least one loading and unloading position
  • the autonomous vehicle travels to the loading and unloading position of the loading and unloading device to wait for loading and unloading equipment to load and unload.
  • Autonomous vehicles at loading and unloading positions corresponding to loading and unloading equipment perform loading and unloading.
  • the loading and unloading control device 3 controls the loading and unloading equipment to perform automatic loading and unloading of the self-driving vehicle, which can be specifically implemented through, but not limited to, any one of the following modes (mode D1 to mode D3):
  • Method D1 the loading and unloading control device 3 receives the loading and unloading instruction from the automatic driving control device 2 of the autonomous driving vehicle stopped at the loading and unloading position of the loading and unloading device, and controls the loading and unloading equipment to respond to the autonomous driving vehicle according to the loading and unloading instruction. Loading and unloading.
  • the autonomous driving control device 2 sends a loading / unloading instruction to the loading / unloading control device corresponding to the loading / unloading device, for example, when the autonomous driving vehicle travels to When the loading position in the transportation task, the loading instruction is sent to the loading and unloading control device 3; when the autonomous vehicle travels to the loading position in the transportation task, the unloading instruction is sent to the loading and unloading control device 3.
  • the loading and unloading control device 3 receives a loading and unloading instruction for loading and unloading an autonomous vehicle stopped at the loading and unloading position of the loading and unloading device from the management system 1, and controls the loading and unloading device pair according to the loading and unloading instruction.
  • the autonomous vehicle performs corresponding loading and unloading.
  • the management system 1 determines the loading position / unloading position in the transportation task according to the position information sent by the autonomous driving vehicle, the management system 1 sends a corresponding loading instruction / Unloading instructions.
  • the management system 1 receives a loading standby message / unload standby message from the automatic driving control device 2, it sends a corresponding loading instruction / unloading instruction to the loading control device 3.
  • the loading and unloading control device obtains the vehicle ID number of the self-driving vehicle stopped at the loading and unloading position of the loading and unloading device, and determines the corresponding loading and unloading of the autonomous vehicle from the correspondence relationship between the preset vehicle ID number and the loading and unloading instruction. Cargo instructions, and control the loading and unloading equipment to perform corresponding loading and unloading of the autonomous vehicle according to the loading and unloading instructions.
  • the correspondence relationship between the vehicle ID number and the loading / unloading instruction may be pre-stored in the loading / unloading control device 3 in advance.
  • the loading and unloading control device obtains the vehicle ID number of the self-driving vehicle stopped at the loading and unloading position of the loading and unloading device, and can be specifically implemented by, but not limited to, any one of the following methods (the methods E1 to E2):
  • Manner E1 A picture provided on the autonomous driving vehicle is collected by a camera provided on the loading and unloading device, and the picture ID is obtained by using image recognition technology to identify the picture, and the picture includes the autonomous driving vehicle Vehicle ID number.
  • the picture may be a picture including a vehicle ID number in a text form, or the picture may be a two-dimensional code or a barcode including the vehicle ID number.
  • Manner E2 The electronic tag provided on the autonomous driving vehicle is read by an inductive reader provided on the loading and unloading device to obtain a vehicle ID number of the autonomous driving vehicle, and the electronic tag includes the electronic tag. Vehicle ID number of a self-driving vehicle.
  • the vehicle ID number may be information capable of uniquely identifying an autonomous vehicle, such as a license plate number of the autonomous vehicle, or a number set in advance for the autonomous vehicle.
  • the loading / unloading control device 3 controls the loading / unloading device to perform corresponding loading / unloading of the autonomous driving vehicle according to the loading / unloading instruction, which may be specifically but not limited to:
  • the loading and unloading instruction is a loading instruction, determine a cargo ID number and a storage position of the cargo to be loaded corresponding to the autonomous vehicle, and control the loading and unloading device to obtain a cargo ID corresponding to the cargo ID number from the storage position. Loading cargo and loading the cargo to be loaded onto the autonomous vehicle;
  • the loading and unloading instruction is an unloading instruction
  • the loading instruction carries an ID number of the goods to be loaded
  • the loading and unloading control device determines the ID number of the goods to be loaded corresponding to the autonomous driving vehicle, and specifically includes: loading the goods from the loading instruction The ID number of the cargo to be loaded corresponding to the autonomous vehicle.
  • the loading instruction carries a vehicle ID number of an autonomous vehicle, and a corresponding relationship between an ID number of a cargo to be loaded corresponding to the vehicle ID number of each autonomous vehicle is stored in the loading control device in advance
  • the determining the ID number of the goods to be loaded corresponding to the autonomous driving vehicle by the loading and unloading control device specifically includes: determining, from the correspondence relationship, the ID corresponding to the vehicle ID number of the autonomous driving vehicle in the loading instruction from the corresponding relationship. ID number of the goods to be loaded.
  • the automatic driving control device 2 and the management system 1 may be wirelessly connected for communication, for example, through Bluetooth, local area network, infrared and other existing conventional wireless communication methods; it may also be in the automatic driving control device 2 A V2X device is provided, a V2X device is provided in the management system 1, and the automatic driving control device 2 and the management system 1 communicate through V2X communication technology.
  • the loading and unloading control device 3 and the management system 1 can be wirelessly connected, for example, through Bluetooth, local area network, infrared and other existing conventional wireless communication methods; it can also be provided with a V2X device in the management system 1, and the loading and unloading control device.
  • V2X equipment is provided in 3, and the loading and unloading control equipment 3 and the management system 1 communicate through V2X communication technology.
  • the loading and unloading control device 3 and the automatic driving control device 2 can be wirelessly connected, for example, through Bluetooth, local area network, infrared and other existing conventional wireless communication methods; it can also be provided with a V2X device in the loading and unloading control device 3, in The automatic driving control device 2 is provided with a V2X device, and the loading and unloading control device 3 and the automatic driving control device 2 communicate with each other through a V2X communication technology.
  • the management system 1 may include a first communication unit, a management unit, and a transportation task allocation unit, where:
  • a first communication unit configured to send and receive information
  • a transport task allocation unit is configured to generate a transport task according to the cargo information and the transport status of each autonomous driving vehicle, and send each transport task to a matching automatic driving control device of the autonomous driving vehicle.
  • the transport task allocation unit generates transport tasks based on the cargo information and the transport status of each autonomous vehicle, and sends each transport task to the automatic driving control device of the matched autonomous vehicle, which can be implemented specifically but not limited to: Goods to be transported, and matching conditions are determined according to the cargo information of the goods to be transported, and one of the autonomous driving vehicles that meets the matching conditions is selected from the autonomous driving vehicles under their jurisdiction as the autonomous driving vehicles that match the goods to be transported. , Generating a transportation task corresponding to the cargo to be transported based on the cargo information of the cargo to be transported and a matching autonomous driving vehicle. For more technical details, please refer to the foregoing related content, which will not be repeated here.
  • the management unit is further configured to: upon receiving a transport task completion message through the first communication unit, Transport tasks update cargo information and the transport status of autonomous vehicles.
  • the management unit is further configured to: when receiving the position information of the autonomous driving vehicle through the first communication unit, update the corresponding autonomous driving The transportation status of the vehicle.
  • the automatic driving control device 2 may include a second communication unit and a first control unit, where:
  • a second communication unit configured to send and receive information
  • a first control unit is configured to control an autonomous vehicle to complete transportation according to the transportation task when a transportation task is received through the second communication unit.
  • the transportation task may include a loading position (which may be the starting point of the cargo transportation), and the first control unit controls the autonomous vehicle to complete the transportation according to the transportation task. Specifically, it includes: controlling the autonomous vehicle to travel from the current position to the loading position; and when determining that loading is completed, controlling the autonomous vehicle to drive away from the loading position.
  • the transportation task may include an unloading position (which may be the aforementioned cargo transportation end point), and the first control unit controls the autonomous vehicle to complete the transportation according to the transportation task, which specifically includes : Controlling the autonomous vehicle to travel from the current position to the unloading position; and when determining that the unloading is completed, controlling the autonomous vehicle to drive away from the unloading position.
  • an unloading position which may be the aforementioned cargo transportation end point
  • the transport task represents loading to the starting point of the cargo transportation and pulling the cargo to the end point of the cargo transportation for unloading.
  • the transport task may include a loading location (which may be the aforementioned cargo transportation starting point) and an unloading location (which may be The aforementioned cargo transportation end point), the first control unit controls the autonomous vehicle to complete the transportation according to the transportation task, and specifically includes: controlling the autonomous vehicle to travel from the current position to the loading position; Control the autonomous driving vehicle to travel from the loading position to the unloading position; when it is determined that the unloading is completed, control the autonomous driving vehicle to leave the unloading position.
  • the first control unit is further configured to send a transportation task completion message to the vehicle management system through the second communication unit when it is determined that the transportation task is completed.
  • the loading and unloading control device 3 may include a third communication unit and a second control unit, where:
  • a third communication unit configured to send and receive information
  • the second control unit is configured to control the loading and unloading equipment to automatically load and unload the autonomous vehicle.
  • Each loading and unloading equipment corresponds to at least one loading and unloading position
  • the second control unit controls the loading and unloading equipment to automatically load and unload the autonomous driving vehicle, which can be specifically, but not limited to, any one of the foregoing manners D1 to D3. More details.
  • a person of ordinary skill in the art may understand that all or part of the steps carried by the methods in the foregoing embodiments may be implemented by a program instructing related hardware.
  • the program may be stored in a computer-readable storage medium. When the program is executed, Including one or a combination of steps of a method embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the embodiments of the present invention may be provided as a method, a system, or a computer program product. Therefore, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, magnetic disk memory, optical memory, etc.) containing computer-usable program code.
  • a computer-usable storage media including, but not limited to, magnetic disk memory, optical memory, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device, the instructions
  • the device implements the functions specified in one or more flowcharts and / or one or more blocks of the block diagram.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of steps can be performed on the computer or other programmable device to produce a computer-implemented process, which can be executed on the computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of the block diagrams.

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Abstract

实现自动运输货物的系统及相关设备，能实现特定区域内全自动化货物运输。系统包括管理系统（1）、装卸控制设备（3）和设置在自动驾驶车辆上的自动驾驶控制装置（2），其中：管理系统（1），用于管理货物信息和自动驾驶车辆的运输状态；根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾驶控制装置（2）；自动驾驶控制装置（2），用于在接收到运输任务时，控制自动驾驶车辆按照运输任务完成运输；装卸控制设备（3），用于控制装卸设备对自动驾驶车辆进行自动装卸货。

Description

实现自动运输货物的系统及相关设备
本申请要求在2018年7月12日提交中国专利局、申请号为201810765504.0、发明名称为“实现自动运输货物的系统及相关设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动驾驶领域，特别涉及实现自动运输货物的系统及相关设备。
背景技术
目前，在一些大型港口，通过港区内的卡车将船舶上的集装箱运输到堆场，以及将堆场的集装箱运输到船舶。港区内的卡车由卡车司机驾驶，而卡车司机无法一天24小时持续工作，因此，一辆卡车至少需要配置2-3名卡车司机，而由于港区内卡车数量较多，需要配置的卡车司机人数较多，不仅成本较高，而且港区内车辆、集装箱非常多，卡车司机的工作环境较为危险，因此，如何能够在港区内实现全自动化的货物运输，以降低成本，则成为目前亟待解决的技术问题。
发明内容
鉴于上述问题，本发明提供一种实现自动运输货物的系统及相关设备，以实现特定区域(例如临海港区、公路港区、矿区、大型仓库、货物集散地、园区、物流中心等)内全自动化货物运输的目的。
本发明实施例，提供一种实现自动运输货物的系统，该系统包括管理系统、装卸控制设备和设置在自动驾驶车辆上的自动驾驶控制装置，其中：
管理系统，用于管理货物信息和自动驾驶车辆的运输状态；根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾驶控制装置；
自动驾驶控制装置，用于在接收到运输任务时，控制自动驾驶车辆按照所述运输任务完成运输；
装卸控制设备，用于控制装卸设备对自动驾驶车辆进行自动装卸货。
本发明实施例提供的技术方案，通过在管理系统、自动驾驶车辆上的自动驾驶控制装置、装卸控制设备之间进行通信控制，以实现自动驾驶车辆在特定区域内自动运输货物，实现特定区域(例如临海港区、矿区、公路港区、仓库、货物集散地、园区等)内的全自 动化的货物运输，无需为每一辆卡车配置卡车司机，降低成本。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。显而易见地，下面描述中的附图仅仅是本发明一些实施例，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本发明实施例中实现自动运输货物的系统的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
本发明技术方案可适用于一些特定区域内，例如临海港区、公路港区、矿区、货物集散地、仓库、园区、物流中心等，本申请不对本发明技术方案的应用场景作严格限定。
本发明实施例中，自动驾驶车辆可以是所有具有自动驾驶功能的装载工具，例如可以包括卡车、货车、AGV(Automated Guided Vehicle，自动导引运输车)、吊车、叉车、轮胎吊、正面吊等，本申请对自动驾驶车辆的类型不作严格限定。
本发明实施例中，装卸设备可以是桥吊(即岸吊)、轨道吊、轮胎吊、塔吊、正面吊、天车、吊车、机器人、叉车等，本申请对装卸设备的结构不作严格限定。
实施例一
参见图1，为本发明实施例中实现自动运输货物的系统的结构示意图，该系统包括管理系统1、设置在自动驾驶车辆上的自动驾驶控制装置2、用于控制一个或多个装卸设备的装卸控制设备3，其中：
管理系统1，用于管理货物信息和自动驾驶车辆的运输状态；根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾 驶控制装置2；
自动驾驶控制装置2，用于在接收到运输任务时，控制自动驾驶车辆按照所述运输任务完成运输；
装卸控制设备3，用于控制装卸设备对自动驾驶车辆进行自动装卸货。
本发明实施例中，自动驾驶控制装置2可以设置在车载端的DSP(Digital Signal Processing，数字信号处理器)、FPGA(Field-Programmable Gate Array，现场可编程门阵列)控制器、工业电脑、行车电脑、ECU(Electronic Control Unit，电子控制单元)或者VCU(Vehicle Control Unit，整车控制器)上。
本发明实施例中，装卸控制设备3可以为设置在装卸设备上的计算机服务器，例如DSP、FPGA控制器、工业电脑、平板电脑或者PC等，操作人员可以通过操作该计算机服务器控制装卸设备进行装卸货，当然，装卸控制设备3还可以是无线通信的遥控设备，操作人员可以通过该遥控设备远程控制装卸设备，本申请不作严格限定。
本发明实施例中，管理系统1可以为设置在特定区域内的计算机服务器，例如DSP、FPGA控制器、工业电脑、平板电脑或者PC等，本申请不作严格限定。
管理系统1管理的货物信息可包括物流中心内包含的所有货物的基本信息，基本信息可包括但不仅限于以下任意一种或多种：货物类型、货物ID号、货物所有人、货物来源、货物入库时间、货物当前存放位置、货物运输目的地、货物送达运输目的地的期限等。本发明实施例中，可以预先在管理系统1中存储有各个自动驾驶车辆的身份信息和车辆类型(例如集装箱卡车、厢式货车、AGV、叉车、吊车等)等。自动驾驶车辆周期性地的将该自动驾驶车辆的运输状态(运输状态包括自动驾驶车辆的位置信息、车辆状态信息(例如包括状态繁忙、空闲状态等状态信息))同步给管理系统1。
管理系统1根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾驶控制装置，具体可通过但不仅限于以下方式实现：针对每个待运输货物，根据所述待运输货物的货物信息确定匹配条件，从管辖的自动驾驶车辆中筛选出符合所述匹配条件的其中一辆自动驾驶车辆作为与所述待运输货物匹配的自动驾驶车辆，根据所述待运输货物的货物信息和匹配的自动驾驶车辆生成与所述待运输货物对应的运输任务。所述运输任务可以包括但不仅限于以下任意一种或多种信息：货物类型、货物ID号、货物出库时间、货物运输起点、货物运输终点以及匹配的自动驾驶车辆的ID信息。所述匹配条件例如可以是：车辆类型可以运输所述待运输货物的货物类型，且自动驾驶车辆的车辆状态为空闲状态。从管辖的自动驾驶车辆中筛选出符合所述匹配条件的其中一辆自动驾驶车辆作为与所述运输计划匹配对应的自动驾驶车辆，具体可包括：从所述自动驾驶车辆中筛选出车辆类型可以运输所述运输计划中的货物类型的第一 组自动驾驶车辆；从第一组自动驾驶车辆中筛选出车辆状态为空闲状态的第二组自动驾驶车辆；若第二组自动驾驶车辆仅包含一辆自动驾驶车辆则直接将该自动驾驶车辆确定为与所述运输计划匹配的自动驾驶车辆；若第二组自动驾驶车辆包含多辆自动驾驶车辆，则从第二组自动驾驶车辆中筛选出当前位置与所述运输计划中货物运输起点的距离最近的自动驾驶车辆作为与所述运输计划匹配的自动驾驶车辆；若第二组自动驾驶车辆为零，则从第一组自动驾驶车辆中选取货物运输终点与所述运输计划中货物运输起点的距离最近的自动驾驶车辆作为与所述运输计划匹配的自动驾驶车辆。
所述货物运输起点可以为待运输货物的存放位置；或者，所述货物运输起点可以为待运输货物的存放位置对应的装货位置，例如在物流中心包含大量的堆场，每个堆场对应一个或多个装货位置，将所述待运输货物的存放位置所在的堆场的一个装货位置作为货物运输起点；例如在物流中心包含大量的仓库，仓库的门口位置为该仓库的装货位置，将待运输货物的存放位置所在的仓库的门口位置确定为货物运输起点，本申请不做严格限定。所述货物运输终点可以为待运输货物的运输目的地。
在一些实施例中，为及时更新管理系统1中的货物信息和自动驾驶车辆的运输状态，本发明实施例中，自动驾驶控制装置2在完成运输任务时，向所述管理系统1发送运输任务完成消息；所述管理系统1在接收到运输任务完成消息时，根据已完成的运输任务更新货物信息、相应自动驾驶车辆的运输状态。
在一些实施例中，为及时更新管理系统1中的自动驾驶车辆的运输状态，本发明实施例中，自动驾驶控制装置周期性地将自动驾驶车辆的位置信息发送给管理系统1；管理系统1根据接收到的位置信息更新相应自动驾驶车辆的运输状态。
本发明实施例中，“装卸货位置”是指既可以用来卸货也可以用来装货的位置区域。当在“装卸货位置”进行装货时则称该“装卸货位置”为“装货位置”，当在“装卸货位置”进行卸货时则称该“装卸货位置”为“卸货位置”。
在一些实施例中，若运输任务表示去货物运输起点装载货物，则运输任务可包括装货位置(可以为货物运输起点)，所述自动驾驶控制装置2控制自动驾驶车辆按照所述运输任务完成运输，具体包括：自动驾驶控制装置2控制所述自动驾驶车辆从当前位置行驶到所述装货位置；在确定装货完成时，控制所述自动驾驶车辆驶离所述装货位置。若运输任务表示将货物拉到货物运输终点卸载，则运输任务可包括卸货位置(可以为前述的货物运输终点)，所述自动驾驶控制装置2控制自动驾驶车辆按照所述运输任务完成运输，具体包括：自动驾驶控制装置2控制所述自动驾驶车辆从当前位置行驶到所述卸货位置；在确定卸货完成时，控制所述自动驾驶车辆驶离所述卸货位置。
在一些实施例中，运输任务表示去货物运输起点装货并将该货物拉到货物运输终点进 行卸货，则运输任务可包含装货位置(可以为前述的货物运输起点)和卸货位置(可以为前述的货物运输终点)，所述自动驾驶控制装置2控制自动驾驶车辆按照所述运输任务完成运输，具体可包括：自动驾驶控制装置2控制所述自动驾驶车辆从当前位置行驶到所述装货位置；在确定装货完成时，控制所述自动驾驶车辆从装货位置行驶到所述卸货位置；在确定卸货完成时，控制所述自动驾驶车辆驶离所述卸货位置。
本发明实施例中，自动驾驶控制装置2控制自动驾驶车辆从当前位置行驶到所述装货位置，具体可通过但不仅限于以下方式实现：自动驾驶控制装置2确定以当前位置为起点、以所述装货位置为终点的第一行驶路线，并控制所述自动驾驶车辆根据所述第一行驶路线从当前位置行驶到所述装货位置。
本发明实施例中，自动驾驶控制装置2确定所述第一行驶路线，可以由自动驾驶控制装置2根据本地存储的地图数据规划得到所述第一行驶路线；也可以由管理系统1根据本地存储的地图数据规划得到所述第一行驶路线，并将该第一行驶路线加载在运输任务中，由自动驾驶控制装置2从该运输任务中获取所述第一行驶路线。因此，本发明实施例中，自动驾驶控制装置2确定以当前位置为起点、以所述装货位置为终点的行驶路线，具体可通过但不仅限于以下任意一种方式(方式A1～方式A2)实现：
方式A1、自动驾驶控制装置2以当前位置为起点、以所述装货位置为终点，根据预存的地图数据规划从所述起点到所述终点的第一行驶路线。
方式A1中，自动驾驶控制装置2可以由自身的导航软件规划所述行驶路线，也可以由自动驾驶控制装置2调用第三方地图软件规划所述第一行驶路线。
方式A2、自动驾驶控制装置2从所述运输任务中获取从所述当前位置到所述装货位置的第一行驶路线。
方式A2中，所述第一行驶路线由构成所述第一行驶路线的路径点构成，自动驾驶控制装置2将运输任务中的路径点依次显示在本地地图上，并以显示在地图上的第一行驶路线为导航路线，控制车辆从当前位置行驶到装货位置。
本发明实施例中，自动驾驶控制装置2控制自动驾驶车辆从装货位置行驶到所述卸货位置，具体可通过但不仅限于以下方式实现：自动驾驶控制装置2确定以装货位置为起点、以所述卸货位置为终点的第二行驶路线，并控制所述自动驾驶车辆根据所述第二行驶路线从装货位置行驶到所述卸货位置。自动驾驶控制装置2确定以装货位置为起点、以所述卸货位置为终点的第二行驶路线，具体实现原理可参见前述方式A1～方式A2，在此不再赘述。
在一些实施例中，前述自动驾驶控制装置2确定装货完成，具体可采用但不仅限于以下任意一种方式(方式B1～方式B5)实现：
方式B1、从装卸控制设备3接收到用于指示所述自动驾驶车辆装货完成的指令时，确定装货完成。
在方式B1中，相应地，装卸控制设备3在确定装卸设备对自动驾驶车辆装货完成时，向所述自动驾驶车辆的自动驾驶控制装置2发送用于指示所述自动驾驶车辆装货完成指令。在方式B1中，自动驾驶控制装置2和装卸控制设备3可进行通信。
方式B2、从管理系统1接收到用于指示所述自动驾驶车辆装货完成的指令时，确定装货完成。
在方式B2中，相应地，管理系统1确定装卸设备对自动驾驶车辆装货完成时，向所述自动驾驶车辆的自动驾驶控制装置2发送用于指示所述自动驾驶车辆装货完成指令。管理系统1确定装卸设备对自动驾驶车辆装货完成，具体可通过但不仅限于以下方式实现：管理系统1从装卸控制设备3接收用于指示所述自动驾驶车辆装货完成指令，以确定所述自动驾驶车辆装货完成。
方式B3、在判断安装在所述自动驾驶车辆上的重力传感器输出的重力值大于等于预置的重力阈值且该重力值在预置时间段内不发生变化时，确定装货完成。
在方式B3中，可以在自动驾驶车辆的货车板上设置有重力传感器，通过判断该重力传感器输出的重力值的变化情况确定装货是否完成。
方式B4、通过设置在所述自动驾驶车辆上的车载摄像机采集位于装货位置附近的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，得到用于指示所述自动驾驶车辆装货完成的通知消息。
在该方式B4中，在各装货位置附近设置有电子屏，当对停止在装货位置的自动驾驶车辆装货完成时，在该电子屏上显示用于指示所述自动驾驶车辆装货完成的通知消息。例如，在该电子屏上显示“车牌号为*****，装货完毕”，或者显示“装货完毕”信息。
方式B5、利用预置的语音模型识别通过语音播报器播报的用于指示所述自动驾驶车辆装货完成的通知消息。
在方式B5中，可以在装货位置附近设置有语音播报器，当对停止在装货位置的自动驾驶车辆装货完成时，通过语音播报器播报用于指示所述自动驾驶车辆装货完成的通知消息。例如，播报语音为“车牌号为*****，装货完毕”，或者播报语音为“装货完毕”信息。
在一些实施例中，所述自动驾驶控制装置2确定卸货完成，具体可通过但不仅限于以下任意一种方式(方式C1～方式C5)实现：
方式C1、从装卸控制设备3接收到用于指示所述自动驾驶车辆卸货完成的指令时，确定卸货完成。
在方式C1中，相应地，装卸控制设备3在确定装卸设备对自动驾驶车辆卸货完成时，向所述自动驾驶车辆的自动驾驶控制装置2发送用于指示所述自动驾驶车辆卸货完成指令。
方式C2、从管理系统1接收到用于指示所述自动驾驶车辆卸货完成的指令时，确定卸货完成。
在方式C2中，相应地，管理系统1确定装卸设备对自动驾驶车辆卸货完成时，向所述自动驾驶车辆的自动驾驶控制装置2发送用于指示所述自动驾驶车辆卸货完成指令。管理系统1确定装卸设备对自动驾驶车辆卸货完成，具体可通过但不仅限于以下方式实现：管理系统1从装卸控制设备3接收用于指示所述自动驾驶车辆卸货完成指令，以确定所述自动驾驶车辆卸货完成。
方式C3、在判断安装在所述自动驾驶车辆上的重力传感器输出的重力值小于等于预置的重力阈值且该重力值在预置时间段内不发生变化时，确定卸货完成。
在方式C3中，可以在自动驾驶车辆的货车板上设置有重力传感器，通过判断该重力传感器输出的重力值的变化情况确定卸货是否完成。
方式C4、通过设置在所述自动驾驶车辆上的车载摄像机采集位于卸货位置附近的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，得到用于指示所述自动驾驶车辆卸货完成的通知消息。
在该方式C4中，在各卸货位置设置有电子屏，当对停止在卸货位置的自动驾驶车辆卸货完成时，在该电子屏上显示用于指示所述自动驾驶车辆卸货完成的通知消息。例如，在该电子屏上显示“车牌号为*****，卸货完毕”，或者显示“卸货完毕”信息。
方式C5、利用预置的语音模型识别通过语音播报器播报的用于指示所述自动驾驶车辆卸货完成的通知消息。
在方式C5中，可以在卸货位置附近设置有语音播报器，当对停止在卸货位置的自动驾驶车辆卸货完成时，通过语音播报器播报用于指示所述自动驾驶车辆卸货完成的通知消息。例如，播报语音为“车牌号为*****，卸货完毕”，或者播报语音为“卸货完毕”信息。
在一些实施例中，本发明实施例中，每个装卸设备对应至少一个装卸货位置，自动驾驶车辆行驶到装卸设备的装卸货位置等待装卸设备进行装卸货，相应地，装卸设备对停止在该装卸设备对应的装卸货位置的自动驾驶车辆进行装卸货。装卸控制设备3控制装卸设备对自动驾驶车辆进行自动装卸货，具体可通过但不仅限于以下任意一种方式(方式D1～方式D3)实现：
方式D1、装卸控制设备3从停止在该装卸设备的装卸货位置的自动驾驶车辆的自动驾 驶控制装置2接收装卸货指令，并根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货。
在方式D1中，相应地，自动驾驶控制装置2在自动驾驶车辆停止到装卸设备的装卸货位置时，向所述装卸设备对应的装卸控制设备发送装卸货指令，例如：当自动驾驶车辆行驶到运输任务中的装货位置时，向所述装卸控制设备3发送装货指令；当自动驾驶车辆行驶到运输任务中的卸货位置时，向所述装卸控制设备3发送卸货指令。
方式D2、装卸控制设备3从所述管理系统1接收用于表示对停止在该装卸设备的装卸货位置的自动驾驶车辆进行装卸货的装卸货指令，并根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货。
在方式D2中，相应地，管理系统1在根据自动驾驶车辆发送的位置信息确定自动驾驶车辆行驶到运输任务中的装货位置/卸货位置时，向装卸控制设备3发送相应的装货指令/卸货指令。或者，管理系统1从自动驾驶控制装置2接收到装货待命消息/卸货待命消息时，向装卸控制设备3发送相应的装货指令/卸货指令。
方式D3、装卸控制设备获取停止在该装卸设备的装卸货位置的自动驾驶车辆的车辆ID号，并从预置的车辆ID号与装卸货指令的对应关系中确定所述自动驾驶车辆对应的装卸货指令，并根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货。
在方式D3中，可以预先在装卸控制设备3中预存有车辆ID号与装卸货指令的对应关系。
在方式D3中，装卸控制设备获取停止在该装卸设备的装卸货位置的自动驾驶车辆的车辆ID号，具体可通过但不仅限于以下任意一种方式(方式E1～方式E2)实现：
方式E1、通过设置在所述装卸设备上的摄像机采集设置在所述自动驾驶车辆上的图片，采用图像识别技术识别所述图片得到所述车辆ID号，所述图片中包含所述自动驾驶车辆的车辆ID号。
在方式E1中，所述图片可以是包含文字形式的车辆ID号的图片，或者所述图片为包含所述车辆ID号的二维码或条形码。
方式E2、通过设置在所述装卸设备上的感应式阅读器读取设置在所述自动驾驶车辆上的电子标签，以得到所述自动驾驶车辆的车辆ID号，所述电子标签中包含所述自动驾驶车辆的车辆ID号。
车辆ID号可以是能够唯一识别自动驾驶车辆的信息，例如可以是自动驾驶车辆的车牌号，也可以是预先为该自动驾驶车辆设置的编号。
在一些实施例中，本发明实施例中，装卸控制设备3根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货，具体可通过但不仅限于以下方式实现：
若所述装卸货指令为装货指令时，确定与所述自动驾驶车辆对应的待装货物的货物ID号和存放位置，控制装卸设备从所述存放位置获取与所述货物ID号对应的待装货物，并将所述待装货物装载到所述自动驾驶车辆上；
若所述装卸货指令为卸货指令时，确定位于所述自动驾驶车辆上的待卸货物对应的目标存放位置，并控制装卸设备将所述自动驾驶车辆上的待卸货物放置到所述目标存放位置。
在一个示例中，在所述装货指令中携带有待装货物ID号，所述装卸控制设备确定与所述自动驾驶车辆对应的待装货物ID号，具体包括：从所述装货指令中货物与所述自动驾驶车辆对应的待装货物ID号。
在一个示例中，所述装货指令中携带有自动驾驶车辆的车辆ID号，预先在所述装卸控制设备中存储有各自动驾驶车辆的车辆ID号对应的待装货物ID号的对应关系，所述装卸控制设备确定与所述自动驾驶车辆对应的待装货物ID号，具体包括：装卸控制设备从所述对应关系中确定与所述装货指令中的自动驾驶车辆的车辆ID号对应的待装货物ID号。
本发明实施例中，自动驾驶控制装置2与管理系统1之间可以通过无线方式通信连接，例如通过蓝牙、局域网、红外等现有的常规无线通信方式通信；还可以是在自动驾驶控制装置2设置有V2X设备，在管理系统1中设置有V2X设备，自动驾驶控制装置2和管理系统1之间通过V2X通信技术进行通信。
装卸控制设备3与管理系统1之间可以通过无线方式通信连接，例如通过蓝牙、局域网、红外等现有的常规无线通信方式通信；还可以是在管理系统1设置有V2X设备，在装卸控制设备3中设置有V2X设备，装卸控制设备3和管理系统1之间通过V2X通信技术进行通信。
装卸控制设备3与自动驾驶控制装置2之间可以通过无线方式通信连接，例如通过蓝牙、局域网、红外等现有的常规无线通信方式通信；还可以是在装卸控制设备3设置有V2X设备，在自动驾驶控制装置2中设置有V2X设备，装卸控制设备3和自动驾驶控制装置2之间通过V2X通信技术进行通信。
前述实施例中，管理系统1可包括第一通信单元、管理单元和运输任务分配单元，其中：
第一通信单元，用于收发信息；
管理单元，用于管理货物信息和自动驾驶车辆的运输状态；
运输任务分配单元，用于根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾驶控制装置。
运输任务分配单元根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾驶控制装置，具体可通过但不仅限于以下方式实现：针对每个待运输货物，根据所述待运输货物的货物信息确定匹配条件，从管辖的自动驾驶车辆中筛选出符合所述匹配条件的其中一辆自动驾驶车辆作为与所述待运输货物匹配的自动驾驶车辆，根据所述待运输货物的货物信息和匹配的自动驾驶车辆生成与所述待运输货物对应的运输任务。更多技术细节可详见前述相关内容，在此不在赘述。
为及时更新管理单元中的货物信息和自动驾驶车辆的运输状态，本发明实施例中，所述管理单元进一步用于：在通过所述第一通信单元接收到运输任务完成消息时，根据已完成的运输任务更新货物信息和自动驾驶车辆的运输状态。
为及时更新管理单元中的自动驾驶车辆的运输状态，本发明实施例中，所述管理单元进一步用于：在通过所述第一通信单元接收到自动驾驶车辆的位置信息时，更新相应自动驾驶车辆的运输状态。
前述实施例中，自动驾驶控制装置2可包括第二通信单元和第一控制单元，其中：
第二通信单元，用于收发信息；
第一控制单元，用于在通过第二通信单元接收到运输任务时，控制自动驾驶车辆按照所述运输任务完成运输。
在一些实施例中，若运输任务表示去货物运输起点装载货物，则运输任务可包括装货位置(可以为货物运输起点)，所述第一控制单元控制自动驾驶车辆按照所述运输任务完成运输，具体包括：控制所述自动驾驶车辆从当前位置行驶到所述装货位置；在确定装货完成时，控制所述自动驾驶车辆驶离所述装货位置。若运输任务表示将货物拉到货物运输终点卸载，则运输任务可包括卸货位置(可以为前述的货物运输终点)，所述第一控制单元控制自动驾驶车辆按照所述运输任务完成运输，具体包括：控制所述自动驾驶车辆从当前位置行驶到所述卸货位置；在确定卸货完成时，控制所述自动驾驶车辆驶离所述卸货位置。
在一些实施例中，运输任务表示去货物运输起点装货并将该货物拉到货物运输终点进行卸货，则运输任务可包含装货位置(可以为前述的货物运输起点)和卸货位置(可以为前述的货物运输终点)，所述第一控制单元控制自动驾驶车辆按照所述运输任务完成运输，具体包括：控制所述自动驾驶车辆从当前位置行驶到所述装货位置；在确定装货完成时，控制所述自动驾驶车辆从装货位置行驶到所述卸货位置；在确定卸货完成时，控制所述自动驾驶车辆驶离所述卸货位置。
本发明实施例中，所述第一控制单元进一步用于，在确定运输任务完成时，通过所述第二通信单元向车辆管理系统发送运输任务完成消息。
前述实施例中，装卸控制设备3可包括第三通信单元和第二控制单元，其中：
第三通信单元，用于收发信息；
第二控制单元，用于控制装卸设备对自动驾驶车辆进行自动装卸货。
每个装卸设备对应至少一个装卸货位置，所述第二控制单元控制装卸设备对自动驾驶车辆进行自动装卸货，具体可通过但不仅限于前述方式D1～方式D3中的任意一种，在此不再赘述。
以上结合具体实施例描述了本发明的基本原理，但是，需要指出的是，对本领域普通技术人员而言，能够理解本发明的方法和装置的全部或者任何步骤或者部件可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件固件、软件或者他们的组合加以实现，这是本领域普通技术人员在阅读了本发明的说明的情况下运用它们的基本编程技能就能实现的。
本领域普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方 式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的上述实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括上述实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (10)

  1. 一种实现自动运输货物的系统，其特征在于，包括管理系统、装卸控制设备和设置在自动驾驶车辆上的自动驾驶控制装置，其中：
    管理系统，用于管理货物信息和自动驾驶车辆的运输状态；根据货物信息和各自动驾驶车辆的运输状态生成运输任务，并将各运输任务发送给匹配的自动驾驶车辆的自动驾驶控制装置；
    自动驾驶控制装置，用于在接收到运输任务时，控制自动驾驶车辆按照所述运输任务完成运输；
    装卸控制设备，用于控制装卸设备对自动驾驶车辆进行自动装卸货。
  2. 根据权利要求1所述的系统，其特征在于，所述运输任务包含装货位置或者卸货位置，所述自动驾驶控制装置控制自动驾驶车辆按照所述运输任务完成运输，具体包括：
    自动驾驶控制装置控制所述自动驾驶车辆从当前位置行驶到所述装货位置或卸货位置；
    在确定装货完成/卸货完成时，控制所述自动驾驶车辆驶离所述装货位置/卸货位置。
  3. 根据权利要求1所述的系统，其特征在于，所述运输任务包含装货位置和卸货位置，所述自动驾驶控制装置控制自动驾驶车辆按照所述运输任务完成运输，具体包括：
    自动驾驶控制装置控制所述自动驾驶车辆从当前位置行驶到所述装货位置；
    在确定装货完成时，控制所述自动驾驶车辆从装货位置行驶到所述卸货位置；
    在确定卸货完成时，控制所述自动驾驶车辆驶离所述卸货位置。
  4. 根据权利要求2或3所述的系统，其特征在于，所述自动驾驶控制装置确定装货完成，具体包括：
    从装卸控制设备接收到用于指示所述自动驾驶车辆装货完成的指令时，确定装货完成；
    或者，从管理系统接收到用于指示所述自动驾驶车辆装货完成的指令时，确定装货完成；
    或者，在判断安装在所述自动驾驶车辆上的重力传感器输出的重力值大于等于预置的重力阈值且该重力值在预置时间段内不发生变化时，确定装货完成；
    或者，通过设置在所述自动驾驶车辆上的车载摄像机采集位于装货位置附近的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，得到用于指示所述自动驾驶车辆装货完成的通知消息；
    或者，利用预置的语音模型识别通过语音播报器播报的用于指示所述自动驾驶车辆装货完成的通知消息。
  5. 根据权利要求2或3所述的系统，其特征在于，所述自动驾驶控制装置确定卸货完 成，具体包括：
    从装卸控制设备接收到用于指示所述自动驾驶车辆卸货完成的指令时，确定卸货完成；
    或者，从管理系统接收到用于指示所述自动驾驶车辆卸货完成的指令时，确定卸货完成；
    或者，在判断安装在所述自动驾驶车辆上的重力传感器输出的重力值小于等于预置的重力阈值且该重力值在预置时间段内不发生变化时，确定卸货完成；
    或者，通过设置在所述自动驾驶车辆上的车载摄像机采集位于卸货位置附近的电子屏的图像，并利用预置图像识别算法识别所述图像中的内容，得到用于指示所述自动驾驶车辆卸货完成的通知消息；
    或者，利用预置的语音模型识别通过语音播报器播报的用于指示所述自动驾驶车辆卸货完成的通知消息。
  6. 根据权利要求1所述的系统，其特征在于，每个装卸设备对应至少一个装卸货位置，装卸控制设备控制装卸设备对自动驾驶车辆进行自动装卸货，具体包括：
    装卸控制设备从停止在该装卸设备的装卸货位置的自动驾驶车辆的自动驾驶控制装置接收装卸货指令，并根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货；
    或者，装卸控制设备从所述管理系统接收用于表示对停止在该装卸设备的装卸货位置的自动驾驶车辆进行装卸货的装卸货指令，并根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货；
    或者，装卸控制设备获取停止在该装卸设备的装卸货位置的自动驾驶车辆的车辆ID号，并从预置的车辆ID号与装卸货指令的对应关系中确定所述自动驾驶车辆对应的装卸货指令，并根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货。
  7. 根据权利要求6所述的系统，其特征在于，所述装卸控制设备根据所述装卸货指令控制装卸设备对所述自动驾驶车辆进行相应的装卸货，具体包括：
    若所述装卸货指令为装货指令时，确定与所述自动驾驶车辆对应的待装货物的货物ID号和存放位置，控制装卸设备从所述存放位置获取与所述货物ID号对应的待装货物，并将所述待装货物装载到所述自动驾驶车辆上；
    若所述装卸货指令为卸货指令时，确定位于所述自动驾驶车辆上的待卸货物对应的目标存放位置，并控制装卸设备将所述自动驾驶车辆上的待卸货物放置到所述目标存放位置。
  8. 根据权利要求6所述的系统，其特征在于，装卸控制设备获取停止在该装卸设备的装卸货位置的自动驾驶车辆的车辆ID号，具体包括：
    通过设置在所述装卸设备上的摄像机采集设置在所述自动驾驶车辆上的图片，采用图像识别技术识别所述图片得到所述车辆ID号，所述图片中包含所述自动驾驶车辆的车辆ID号；
    或者，通过设置在所述装卸设备上的感应式阅读器读取设置在所述自动驾驶车辆上的电子标签，以得到所述自动驾驶车辆的车辆ID号，所述电子标签中包含所述自动驾驶车辆的车辆ID号。
  9. 根据权利要求1所述的系统，其特征在于，所述自动驾驶控制装置进一步用于：在确定运输任务完成时，向所述管理系统发送运输任务完成消息；
    所述管理系统进一步用于：在接收到运输任务完成消息时，根据已完成的运输任务更新所述货物信息和相应自动驾驶车辆的运输状态。
  10. 根据权利要求1所述的系统，其特征在于，所述管理系统根据货物信息和各自动驾驶车辆的运输状态生成运输任务，具体包括：
    针对每个待运输货物，根据所述待运输货物的货物信息确定匹配条件；
    从管辖的自动驾驶车辆中筛选出符合所述匹配条件的其中一辆自动驾驶车辆作为与所述待运输货物匹配的自动驾驶车辆；
    根据所述待运输货物的货物信息和匹配的自动驾驶车辆生成与所述待运输货物对应的运输任务。
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