WO2020010860A1 - 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
WO2020010860A1
WO2020010860A1 PCT/CN2019/077056 CN2019077056W WO2020010860A1 WO 2020010860 A1 WO2020010860 A1 WO 2020010860A1 CN 2019077056 W CN2019077056 W CN 2019077056W WO 2020010860 A1 WO2020010860 A1 WO 2020010860A1
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Prior art keywords
loading
unloading
vehicle
autonomous
transportation
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PCT/CN2019/077056
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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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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 EP19834205.7A priority Critical patent/EP3822729A4/en
Priority to AU2019302313A priority patent/AU2019302313A1/en
Publication of WO2020010860A1 publication Critical patent/WO2020010860A1/zh
Priority to US17/147,306 priority patent/US12118498B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • 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
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • 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
    • 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
    • B60W2420/54—Audio sensitive means, e.g. ultrasound

Definitions

  • the present invention relates to the field of automatic driving, and particularly to a system, a management system, a vehicle dispatching system, an automatic driving control device, an automatic driving vehicle, and a loading and unloading control device 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 realizing automatic cargo transportation, so as to realize fully automated cargo transportation in specific areas (e.g., Linhai Port Area, Highway Port Area, Mining Area, Large Warehouse, Freight Distribution Center, Park, etc.) purpose.
  • specific areas e.g., Linhai Port Area, Highway Port Area, Mining Area, Large Warehouse, Freight Distribution Center, Park, etc.
  • a system for automatically transporting goods includes a management system, a vehicle dispatching 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 generating a transportation plan according to the cargo information, and sending the transportation plan to a vehicle scheduling system;
  • a vehicle scheduling system configured to generate a transportation task according to the transportation plan and the transportation status of each autonomous vehicle when receiving the transportation plan, and send each transportation task to an automatic driving control device of a matching 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.
  • An embodiment of the present invention in a second aspect, provides a management system, including:
  • a first communication unit configured to send and receive information
  • Cargo management unit for managing cargo information
  • a transportation plan generating unit is configured to generate a transportation plan according to the cargo information, and send the transportation plan to a vehicle scheduling system through the first communication unit.
  • An embodiment of the present invention in a third aspect, provides a vehicle scheduling system, including:
  • a second communication unit configured to send and receive information
  • a vehicle management unit for managing the transportation status of each autonomous vehicle
  • a dispatching unit configured to generate a transport task according to the transport plan and the transport status of each autonomous vehicle when receiving a transport plan through the second communication unit, and send each transport task to the second communication unit through the second communication unit Automatic driving control device for matching autonomous driving vehicle.
  • An embodiment of the present invention in a fourth aspect, provides an automatic driving control device, including:
  • a third communication unit configured to send and receive information
  • the first control unit is configured to control the autonomous vehicle to complete the transportation according to the transportation task when the transportation task is received through the third communication unit.
  • An embodiment of the present invention in a fifth aspect, provides a loading and unloading control device, including:
  • a fourth 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.
  • an automatic driving vehicle including the automatic driving control device provided in the foregoing fourth aspect.
  • communication control is performed between a management system, a vehicle dispatching system, an automatic driving control device on an autonomous vehicle, and a loading and unloading control device, so as to realize automatic transportation of goods in a specific area by the autonomous vehicle, Achieve fully automated cargo transportation in specific areas (such as coastal areas, mining areas, highway port areas, warehouses, cargo distribution centers, parks, logistics centers, etc.) without the need to configure a truck driver for each truck, reducing costs.
  • specific areas such as coastal areas, mining areas, highway port areas, warehouses, cargo distribution centers, parks, logistics centers, etc.
  • FIG. 1 is a schematic structural diagram of an automatic loading and unloading system in an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a management system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a vehicle scheduling system in an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an automatic driving control device according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a loading and unloading control device in an embodiment of the present invention.
  • the technical solution of the present invention can be applied in some specific areas, such as the coastal port area, highway port area, mining area, cargo distribution center, warehouse, park, logistics center, etc.
  • the application scenarios of the technical solution of the present invention are not strictly limited.
  • the port area is mainly used as an application scenario, and the technical principles corresponding to other application scenarios are similar.
  • 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., which are not strictly limited in this application.
  • 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 system includes a management system 1, a vehicle scheduling system 2, an automatic driving control device 3 and a loading and unloading control device 4 provided on an autonomous vehicle. among them:
  • a vehicle scheduling system 2 configured to generate a transportation task according to the transportation plan and the transportation status of each autonomous vehicle when receiving the transportation plan, and send each transportation task to the automatic driving control device 3 of the matching autonomous vehicle;
  • An automatic driving control device 3 configured to control an autonomous driving vehicle to complete transportation in accordance with the transportation task when a transportation task is received;
  • a loading and unloading control device 4 is used to control the loading and unloading equipment to perform automatic loading and unloading of an autonomous vehicle.
  • the automatic driving control device 3 may be provided on a vehicle-side 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 4 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 4 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 vehicle scheduling system 2 may be a computer server, such as a DSP, an FPGA controller, an industrial computer, a tablet computer, or a PC, which is not strictly limited in this application.
  • the management system 1 may be a computer server, such as a DSP, an FPGA controller, an industrial computer, a tablet computer, or a PC, which is not strictly limited in this application.
  • the cargo information managed by the management system 1 may include basic information of all cargoes contained in a specific area (e.g., harbour port area, highway port area, logistics park, logistics center, cargo distribution center, warehouse or mining area, etc.), such as including cargo type, cargo ID number, owner of the goods, origin of the goods, storage time of the goods, current storage location of the goods, destination of the goods, time limit for the goods to reach the destination, etc.
  • the management system 1 generates a transportation plan according to the cargo information, which can be specifically implemented through, but not limited to, the following: For each cargo to be transported, the outbound storage of each cargo to be transported is determined according to the deadline for the delivery of the cargo to the transport destination.
  • Time generating a transportation plan containing transportation information for the goods to be transported, and the transportation information may include, but is not limited to, any one or more of the following information: the type of the goods, the ID number of the goods, the time the goods were delivered, the origin of the goods, and Cargo transportation destination.
  • 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 large number of yards are included in the port area, and each yard is Corresponding to one or more loading locations, use a loading location of the storage yard where the storage location of the goods to be transported is used as the starting point for the transportation of the goods; for example, a logistics park contains a large number of warehouses, and the doorway location of the warehouse is the loading location of the warehouse.
  • the doorway position of the warehouse where the storage position of the cargo to be transported is determined as the starting point of the cargo transportation 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 3 sends a transportation task to the vehicle dispatching system 2 when the transportation task is completed. Completion message, the vehicle dispatch system 2 sends a transport task completion message to the management system 1.
  • the management system 1 updates the cargo information according to the completed transportation task.
  • 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 vehicle scheduling system 2 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 vehicle scheduling system 2.
  • the vehicle scheduling system 2 receives the transportation plan, it generates a transportation task according to the transportation plan and the transportation state of each autonomous vehicle, and sends each transportation task to the automatic driving control device of the matching autonomous vehicle.
  • the method is not limited to: for each transportation plan, determining matching conditions according to the transportation plan, and selecting one of the autonomous driving vehicles that meets the matching condition from the autonomous driving vehicles under its jurisdiction as the matching matching with the transportation plan.
  • the self-driving vehicle generates a transportation task according to the transportation plan and the matching self-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, that a vehicle type can transport a cargo type in the transportation plan, and a vehicle state of the autonomous 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 As autonomous vehicles that match the transport plan.
  • the automatic driving control device 3 reports the vehicle to the vehicle when completing the transportation task.
  • the dispatching system 2 sends a transport task completion message, and the autonomous vehicle periodically reports the location information to the vehicle dispatching system 2, which updates the corresponding transport status of the autonomous vehicle according to the completed transport task and location 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 cargo transportation), and the automatic driving control device 3 controls the autonomous vehicle to complete the transportation task according to the transportation task.
  • Transportation specifically includes: the automatic driving control device 3 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 may include an unloading position (which may be the aforementioned cargo transportation end point), and the automatic driving control device 3 controls the autonomous driving vehicle to complete the transportation in accordance with the transportation task, specifically
  • the method includes: the automatic driving control device 3 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 3 controls the automatic driving vehicle to complete transportation according to the transportation task, and may specifically include: the automatic driving control device 3 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 3 controls the automatic driving vehicle to drive from the current position to the loading position, which can be specifically implemented by, but not limited to, the automatic driving control device 3 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 first driving route is determined by the automatic driving control device 3, and the first driving route may be obtained by the automatic driving control device 3 according to the locally stored map data; the vehicle scheduling system 2 may also be based on the local The stored 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 3 obtains the first driving route from the transportation task. Therefore, in the embodiment of the present invention, the automatic driving control device 3 determines the driving route with the current position as the starting point and the loading position as the ending point, which may be specifically but not limited to any one of the following modes (mode A1 to mode A3) achieve:
  • the automatic driving control device 3 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 3 may plan the driving route by its own navigation software, or the automatic driving control device 3 may call a third-party map software to plan the first driving route.
  • the automatic driving control device 3 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 3 sequentially displays the waypoints in the transportation task on the local map, and displays the first driving route on the map in the first place.
  • a driving route is a navigation route, which controls the vehicle from the current position to the loading position.
  • the transportation task carries a driving route in the area from the entrance of the specific area to the loading position; the automatic driving control device 3 plans a driving route outside the area from the current location to the entrance of the specific area according to the stored map data. And controlling the autonomous vehicle to drive from the current location to the entrance of the specific area according to the driving route outside the area, and to drive from the entrance of the specific area to the loading location according to the driving route within the area in the transportation task.
  • the automatic driving control device 3 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 3 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 3 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 3 determines that the loading is completed, which may be specifically implemented using, but not limited to, any of the following methods (Method B1 to Method B5):
  • Manner B1 When receiving an instruction from the loading and unloading control device 4 for instructing loading completion of the autonomous vehicle, it is determined that loading is completed.
  • mode B1 correspondingly, when the loading and unloading control device 4 determines that the loading and unloading of the autonomous vehicle is completed, the loading and unloading control device 4 sends an instruction to the autonomous driving control device 3 of the autonomous vehicle to instruct the loading completion of the autonomous vehicle. .
  • the automatic driving control device 3 and the loading / unloading control device 4 can communicate.
  • Manner B2 When receiving an instruction from the vehicle dispatching system 2 to indicate completion of loading of the autonomous vehicle, it is determined that the loading is completed.
  • the vehicle dispatching system 2 determines that the loading and unloading equipment has completed loading of the autonomous vehicle, it sends an instruction to the autonomous driving control device 3 of the autonomous vehicle to instruct the loading completion of the autonomous vehicle.
  • the vehicle dispatching system 2 determines that the loading and unloading equipment completes the loading of the autonomous driving vehicle, which can be specifically implemented through, but not limited to, the following manner:
  • the vehicle scheduling system 2 receives the loading and unloading control device 4 from the loading and unloading control device 4 and instructs the automatic driving vehicle to complete the loading instruction to determine Loading of the autonomous vehicle is completed.
  • 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 3 determines that the unloading is completed, which may be specifically implemented by, but not limited to, any one of the following modes (mode C1 to mode C5):
  • Method C1 When receiving an instruction from the loading and unloading control device 4 for instructing completion of the unloading of the autonomous vehicle, it is determined that the unloading is completed.
  • the loading / unloading control device 4 determines that the loading / unloading device has finished unloading the autonomous vehicle, the loading / unloading control device 4 sends an instruction to the autonomous driving vehicle's unloading completion instruction to the automated driving control device 3 of the autonomous vehicle.
  • Mode C2 When receiving an instruction from the vehicle dispatching system 2 for instructing completion of the unloading of the autonomous vehicle, it is determined that the unloading is completed.
  • the vehicle dispatching system 2 determines that the unloading equipment has finished unloading the autonomous vehicle, it sends an automatic driving control device 3 to the autonomous driving vehicle to instruct the autonomous vehicle to complete the unloading.
  • the vehicle dispatching system 2 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 vehicle dispatching system 2 receives an instruction from the loading and unloading control device 4 for instructing the unloading completion of the autonomous vehicle to determine the unloading The unloading of the autonomous vehicle is completed.
  • 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 vehicle stopped at the unloading position is completed, a notification message indicating the unloading completion of the autonomous 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 4 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 4 receives the loading and unloading instruction from the automatic driving control device 3 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 3 sends a loading / unloading instruction to the loading / unloading control equipment corresponding to the loading / unloading equipment, for example, when the autonomous driving vehicle travels to When the loading position in the transportation task, a loading instruction is sent to the loading and unloading control device 4; when the autonomous vehicle travels to the loading position in the transportation task, a loading instruction is sent to the loading and unloading control device 4.
  • the loading and unloading control device 4 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 vehicle dispatching system 2 and controls the loading and unloading equipment according to the loading and unloading instruction. Carry out corresponding loading and unloading of the autonomous vehicle.
  • the vehicle dispatching system 2 sends a corresponding loading instruction to the loading and unloading control device 4 when determining the loading position / unloading position of the autonomous driving vehicle in the transportation task based on the position information sent by the autonomous driving vehicle. / Unloading instructions.
  • the vehicle dispatching system 2 receives the loading standby message / unload standby message from the automatic driving control device 3, it sends a corresponding loading instruction / unloading instruction to the loading control device 4.
  • 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 4 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 4 controls the loading / unloading device to perform corresponding loading / unloading of the autonomous 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 3 and the vehicle dispatching system 2 may be connected in a wireless manner, for example, in a conventional conventional wireless communication manner such as Bluetooth, local area network, infrared, or V2X technology.
  • a V2X device is provided in the automatic driving control device 3
  • a V2X device is provided in the vehicle dispatching system 2
  • the automatic driving control device 3 and the vehicle dispatching system 2 communicate through V2X communication technology.
  • the loading and unloading control device 4 and the vehicle dispatching system 2 may be connected in a wireless manner, for example, in a conventional conventional wireless communication manner such as Bluetooth, local area network, infrared, or V2X technology.
  • a V2X device may be provided in the vehicle dispatching system 2
  • a V2X device may be provided in the loading and unloading control device 4
  • the loading and unloading control device 4 and the vehicle dispatching system 2 may communicate with each other through V2X communication technology.
  • the automatic driving control device 3 and the loading / unloading control device 4 may be connected in a wireless manner, for example, in a conventional conventional wireless communication manner such as Bluetooth, local area network, infrared, or V2X technology.
  • a conventional conventional wireless communication manner such as Bluetooth, local area network, infrared, or V2X technology.
  • the automatic driving control device 3 is provided with a V2X device
  • the loading and unloading control device 4 is provided with a V2X device
  • the automatic driving control device 3 and the loading and unloading control device 4 communicate through V2X communication technology.
  • the second embodiment of the present invention provides a management system 1.
  • the structure of the management system 1 is shown in FIG. 2 and includes a first communication unit 11 and a cargo management unit. 12.
  • Transportation plan generating unit 13 in which:
  • a first communication unit 11 for receiving and sending information
  • a transportation plan generating unit 13 is configured to generate a transportation plan according to the cargo information, and send the transportation plan to a vehicle scheduling system through the first communication unit 11.
  • the cargo information managed by the cargo management unit 12 may include basic information of all cargoes contained in a specific area (such as a port area, a highway port area, a logistics park, a logistics center, a cargo distribution center, a warehouse, or a mining area, etc.), including, for example, the cargo Type, cargo ID number, owner of the cargo, source of the cargo, storage time of the cargo, current storage location of the cargo, destination of the cargo, and time limit for the delivery of the cargo to the destination.
  • the transportation plan generating unit 13 generates a transportation plan according to the cargo information, which can be specifically implemented through, but not limited to, the following methods: For each cargo to be transported, determine the time of each cargo to be transported according to the deadline for the delivery of the cargo to the transport destination.
  • the transportation information 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 and end point of cargo transportation.
  • 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 large number of yards are included in the port area, and each yard Corresponding to one or more loading locations, use a loading location of the storage yard where the storage location of the goods to be transported is used as the starting point for the transportation of the goods;
  • the doorway position of the warehouse where the storage position of the cargo to be transported is determined as the starting point of the cargo transportation is not strictly limited in this application.
  • the cargo transportation destination may be a transportation destination of the cargo to be transported.
  • the cargo management unit 12 in order to update the cargo information in time so that the transportation plan generating unit 13 can generate an accurate transportation plan, is further configured to: upon receiving the transportation task completion through the first communication unit 11 When the message is displayed, the cargo information is updated based on the completed transportation task.
  • the third embodiment of the present invention provides a vehicle scheduling system 2.
  • the structure of the vehicle scheduling system 2 is shown in FIG. 3, and includes a second communication unit 21, Vehicle management unit 22 and dispatch unit 23, where:
  • a second communication unit 21 configured to send and receive information
  • a vehicle management unit 22 configured to manage the transportation status of each autonomous vehicle
  • a dispatching unit 23 is configured to generate a transport task according to the transport plan and the transport status of each autonomous vehicle when receiving a transport plan through the second communication unit 21, and transmit each transport through the second communication unit 21 The task is sent to a self-driving control device of a matching self-driving vehicle.
  • the scheduling unit 23 is further configured to: when it is determined that the autonomous driving vehicle completes the corresponding transportation task, send a transportation task completion message to the management system through the second communication unit 21.
  • the scheduling unit 23 determines that the autonomous driving vehicle completes the corresponding transportation task, which can be specifically implemented by, but not limited to, the following manner: When a transportation task completion message is received from the automatic driving control device through the second communication unit 21 , Determine the corresponding autonomous vehicle to complete the transportation task.
  • the identification information and vehicle type (for example, container truck, van, AGV, forklift, crane, etc.) of each autonomous vehicle may be stored in the scheduling unit 23 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 vehicle management unit 22.
  • the scheduling unit 23 When receiving the transportation plan, the scheduling unit 23 generates a transportation task according to the transportation plan and the transportation status of each autonomous vehicle, and sends each transportation task to a matching automatic driving control device of the autonomous vehicle.
  • the implementation is limited to: for each transportation plan, determining matching conditions according to the transportation plan, and selecting one of the autonomous driving vehicles that meets the matching condition from the autonomous driving vehicles under its jurisdiction as the automatic matching the transportation plan.
  • 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, that a vehicle type can transport a cargo type in the transportation plan, and a vehicle state of the autonomous 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 vehicle management unit 22 is further configured to: When the second communication unit 21 receives the position information and / or transportation task completion information of the autonomous driving vehicle, it updates the corresponding transportation state of the autonomous driving vehicle according to the completed transportation task and location information.
  • the fourth embodiment of the present invention provides an automatic driving control device 3.
  • the structure of the automatic driving control device 3 is shown in FIG. 4 and includes a third communication unit. 31 and the first control unit 32, wherein:
  • the first control unit 32 is configured to control an autonomous vehicle to complete transportation according to the transportation task when a transportation task is received through the third communication unit 31.
  • the transportation task may include a loading position (which may be the starting point of the cargo transportation), and the first control unit 32 controls the autonomous vehicle to complete the transportation task according to the transportation task.
  • Transportation specifically includes: controlling the autonomous vehicle to travel from the current position to the loading position; and when determining that loading is complete, controlling the autonomous vehicle to drive away from the loading position.
  • the transportation task may include an unloading position (which may be the foregoing cargo transportation end point).
  • the first control unit 32 controls the autonomous vehicle to complete the transportation according to the transportation task.
  • the method includes: controlling the automatic driving vehicle to drive from the current position to the unloading position; and when determining that the unloading is completed, controlling the automatic driving vehicle 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 first control unit 32 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; and determining the loading When completed, control the autonomous vehicle to travel from the loading position to the unloading position; when it is determined that the unloading is completed, control the autonomous vehicle to drive away from the unloading position.
  • the first control unit 32 controls the autonomous vehicle to travel from the current position to the loading position.
  • the specific implementation may be as follows: determine the first position with the current position as the starting point and the loading position as the end point. A driving route, and controlling the autonomous vehicle to drive from a current position to the loading position according to the first driving route. For details, refer to related content in the first embodiment, and details are not described herein again.
  • the first control unit 32 controls the autonomous vehicle to travel from the loading position to the unloading position.
  • the specific implementation may be as follows: determine a second driving route starting from the loading position and ending at the unloading position, and control The autonomous vehicle travels from a loading position to the unloading position according to the second driving route.
  • the first control unit 32 determines that the loading is completed, and specifically includes:
  • the loading is determined to be complete. For details, refer to the manner B1 in Embodiment 1, and details are not described herein again.
  • the third communication unit 31 receives an instruction from the vehicle dispatching system to indicate the loading completion of the autonomous vehicle, the loading is determined to be completed.
  • the loading is determined to be completed.
  • the loading is determined to be complete.
  • the method B3 in Example 1 is not repeated here;
  • an image of an electronic screen located near the loading 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
  • a preset image recognition algorithm to obtain an instruction for the autonomous vehicle
  • the preset voice model is used to recognize the notification message broadcasted by the voice broadcaster and used to indicate the loading completion of the autonomous vehicle. For details, refer to the manner B5 in the first embodiment, and details are not described herein again.
  • the first control unit 32 determines that the unloading is completed, and specifically includes:
  • the third communication unit 31 When the third communication unit 31 receives an instruction from the loading and unloading control device for instructing completion of the unloading of the autonomous vehicle, it is determined that the unloading is completed. For details, refer to the manner C1 in Embodiment 1, and details are not described herein again.
  • the third communication unit 31 receives an instruction from the vehicle dispatching system to indicate completion of the unloading of the autonomous vehicle, the unloading is determined to be complete.
  • the third communication unit 31 receives an instruction from the vehicle dispatching system to indicate completion of the unloading of the autonomous vehicle, the unloading is determined to be complete.
  • an on-board camera provided on the autonomous vehicle collects an image of an electronic screen located near the unloading position, and uses a preset image recognition algorithm to identify the content in the image to obtain instructions for unloading the autonomous vehicle.
  • a preset image recognition algorithm to identify the content in the image to obtain instructions for unloading the autonomous vehicle.
  • the preset voice model is used to identify the notification message broadcast by the voice broadcaster and used to indicate the unloading of the autonomous vehicle. For details, refer to manner C5 in the first embodiment, and details are not described herein again.
  • the first control unit 32 is further configured to send a transportation task completion message to the vehicle management system when it is determined that the transportation task is completed.
  • the fifth embodiment of the present invention provides a loading and unloading control device 4.
  • the structure of the loading and unloading control device 4 is shown in FIG. 5 and includes a fourth communication unit 41 and A second control unit 42, wherein:
  • a fourth communication unit 41 configured to send and receive information
  • the second control unit 42 is configured to control the loading and unloading equipment to automatically load and unload the autonomous vehicle.
  • each loading and unloading device corresponds to at least one loading and unloading position
  • the second control unit 42 controls the loading and unloading device to automatically load and unload an autonomous driving vehicle, and specifically includes:
  • the fourth communication unit 41 receives the loading and unloading instruction from the automatic driving control device of the autonomous driving vehicle stopped at the loading and unloading position of the loading and unloading equipment, and controls the loading and unloading equipment to perform corresponding loading and unloading of the autonomous driving vehicle according to the loading and unloading instruction
  • the manner D1 in the first embodiment which will not be repeated here.
  • the fourth communication unit 41 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 equipment from the vehicle dispatching system, and controls the loading and unloading equipment according to the loading and unloading instruction.
  • a loading and unloading instruction for loading and unloading an autonomous vehicle stopped at the loading and unloading position of the loading and unloading equipment from the vehicle dispatching system, and controls the loading and unloading equipment according to the loading and unloading instruction.
  • the vehicle ID number of the autonomous vehicle stopped at the loading / unloading position of the loading / unloading device is obtained, and the corresponding loading / unloading instruction of the autonomous vehicle is determined from the preset correspondence between the vehicle ID number and the loading / unloading instruction, and Carrying out corresponding loading and unloading of the autonomous driving vehicle according to the loading and unloading instruction.
  • the vehicle ID number of the autonomous vehicle stopped at the loading / unloading position of the loading / unloading device is obtained, and the corresponding loading / unloading instruction of the autonomous vehicle is determined from the preset correspondence between the vehicle ID number and the loading / unloading instruction, and Carrying out corresponding loading and unloading of the autonomous driving vehicle according to the loading and unloading instruction.
  • the second control unit 42 controls the loading and unloading equipment to load and unload the autonomous vehicle according to the loading and unloading instruction, and specifically includes:
  • 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 of the goods to be loaded
  • the second control unit 42 determines the ID of the goods to be loaded corresponding to the autonomous driving vehicle, and specifically includes: from the loading instruction The ID of the cargo to be loaded corresponding to the medium cargo and 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 second control unit 42 determines the ID number of the cargo to be loaded corresponding to the autonomous vehicle, and specifically includes: the loading and unloading control device determines the vehicle ID number of the autonomous vehicle in the loading instruction from the correspondence relationship. The corresponding ID number of the goods to be loaded.
  • the second control unit 42 obtains the vehicle ID number of the autonomous vehicle stopped at the loading / unloading position of the loading / unloading device, and specifically includes:
  • the camera set on the loading and unloading device is used to collect a picture set on the autonomous driving vehicle, and the image identification technology is used to identify the picture to obtain the vehicle ID number, and the picture contains the vehicle ID of the autonomous driving vehicle
  • the image identification technology is used to identify the picture to obtain the vehicle ID number, and the picture contains the vehicle ID of the autonomous driving vehicle
  • an inductive reader provided on the loading and unloading device reads an electronic tag provided on the autonomous vehicle to obtain a vehicle ID number of the autonomous vehicle, and the electronic tag includes the automatic tag.
  • the vehicle ID number of the driving vehicle please refer to the related content in the first embodiment for 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

一种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）、车辆调度系统（2）、装卸控制设备（4）和设置在自动驾驶车辆上的自动驾驶控制装置（3），其中：管理系统（1），用于管理货物信息；根据货物信息生成运输计划，并将运输计划发送给车辆调度系统（2）；车辆调度系统（2），用于在接收到运输计划时，根据运输计划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（3）；自动驾驶控制装置（3），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（4），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201810764556.6、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、管理系统、车辆调度系统、自动驾驶控制装置、自动驾驶车辆和装卸控制设备。
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货物运输的系统及相关设备，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、园区等)内全自动化货物运输的目的。
本发明实施例，第一方面，提供一种实现自动运输货物的系统，系统包括管理系统、车辆调度系统、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；根据所述货物信息生成运输计划，并将所述运输计划发送给车辆调度系统；
车辆调度系统，用于在接收到运输计划时，根据所述运输计划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，第二方面，提供一种管理系统，包括：
第一通信单元，用于收发信息；
货物管理单元，用于管理货物信息；
运输计划生成单元，用于根据所述货物信息生成运输计划，并通过所述第一通信单元将所述运输计划发送给车辆调度系统。
本发明实施例，第三方面，提供车辆调度系统，包括：
第二通信单元，用于收发信息；
车辆管理单元，用于管理各自动驾驶车辆的运输状态；
调度单元，用于在通过所述第二通信单元接收到运输计划时，根据所述运输计划和各自动驾驶车辆的运输状态生成运输任务，并通过所述第二通信单元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。
本发明实施例，第四方面，提供一种自动驾驶控制装置，包括：
第三通信单元，用于收发信息；
第一控制单元，用于在通过第三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。
本发明实施例，第五方面，提供一种装卸控制设备，包括：
第四通信单元，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。
本发明实施例，第六方面，提供一种自动驾驶车辆，包括前述第四方面提供的自动驾驶控制装置。
本发明实施例提供的技术方案，通过在管理系统、车辆调度系统、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、物流中心等)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为本发明实施例中自动装卸货的系统的结构示意图；
图2为本发明实施例中管理系统的结构示意图；
图3为本发明实施例中车辆调度系统的结构示意图；
图4为本发明实施例中自动驾驶控制装置的结构示意图；
图5为本发明实施例中装卸控制设备的结构示意图。
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，本申请不多本发明技术方案的应用场景作严格限定。在以下实施例中，主要以港区作为应用场景进行描述，其他应用场景对应的技术原理类似。
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，本申请不作严格限定。
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。
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、车辆调度系统2、设置在自动驾驶车辆上的自动驾驶控制装置3和装卸控制设备4，其中：
管理系统1，用于管理货物信息，根据所述货物信息生成运输计划，并将所述运输计划发送给车辆调度系统2；
车辆调度系统2，用于在接收到运输计划时，根据所述运输计划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3；
自动驾驶控制装置3，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4，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3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4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4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，车辆调度系统2可以为计算机服务器，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。
本发明实施例中，管理系统1可以为计算机服务器，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特定区域(例如临海港区、公路港区、物流园区、物流中心、货物集散地、仓库或矿区等)内包含的所有货物的基本信息，例如包括货物类型、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。管理系统1根据货物信息生成运输计划，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送达运输目的地的期限，确定各待运输货物的出库时间；为所述待运输货物生成包含运输信息的运输计划，所述运输信息可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、货物运输起点和货物运输终点。
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，例如在港区内包含大量的堆场，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；例如在物流园区包含大量的仓库，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，为及时更新货物信息，以便管理系统1能够生成精准的运输计划，本发明实施例中，自动驾驶控制装置3在完成运输任务时，向所述车辆调度系统2发送运输任务完成消息，所述车辆调度系统2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。
本发明实施例中，可以预先在车辆调度系统2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))同步给车辆调度系统2。车辆调度系统2在接收到运输计划时，根据所述运输计划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：针对每个运输计划，根据所述运输计划确定匹配条件，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运输计划匹配的自动驾驶车辆，并根据所述运输计划和匹配的自动驾驶车辆生成运输任务。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运输计划中的货物类型，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。
在一些实施例中，为及时更新自动驾驶车辆的运输状态，以便车辆调度系统2能够生成精准的分配运输任务，本发明实施例中，自动驾驶控制装置3在完成运输任务时，向所述车辆调度系统2发送运输任务完成消息，以及自动驾驶车辆周期性的向车辆调度系统2上报位置信息，所述车辆调度系统2根据已完成的运输任务、位置信息更新相应的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3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3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3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3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3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3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3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3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3确定所述第一行驶路线，可以由自动驾驶控制装置3根据本地存储的地图数据规划得到所述第一行驶路线；也可以由车辆调度系统2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3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3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A3)实现：
方式A1、自动驾驶控制装置3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3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3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3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3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。
当然，若自动驾驶车辆当前位置在装货位置所在的特定区域(例如临海港区、公路港 区、矿区、园区、仓库、物流中心、货物集散地等)之外时，除了前述方式A1和方式A2，本领域技术人员还可以采用以下方式A3实现：
方式A3、在运输任务中携带有从特定区域的入口到装货位置的区域内行驶路线；自动驾驶控制装置3按照存储的地图数据规划从当前位置到达所述特定区域入口的区域外行驶路线，并控制所述自动驾驶车辆根据区域外行驶路线从当前位置行驶到所述特定区域入口，以及按照运输任务中的区域内行驶路线从该特定区域的入口行驶到装货位置。
本发明实施例中，自动驾驶控制装置3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3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3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3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4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4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3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3和装卸控制设备4可进行通信。
方式B2、从车辆调度系统2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，车辆调度系统2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3发送用于指示所述自动驾驶车辆装货完成指令。车辆调度系统2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：车辆调度系统2从装卸控制设备4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3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4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4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3发送用于指示所述自动驾驶车辆卸货完成指令。
方式C2、从车辆调度系统2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，车辆调度系统2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3发送用于指示所述自动驾驶车辆卸货完成指令。车辆调度系统2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：车辆调度系统2从装卸控制设备4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4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4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3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3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4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4发送卸货指令。
方式D2、装卸控制设备4从所述车辆调度系统2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，车辆调度系统2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4发送相应的装货指令/卸货指令。或者，车辆调度系统2从自动驾驶控制装置3接收到装货待命消息/卸货待命消息时，向装卸控制设备4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4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4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。
在一些实施例中，自动驾驶控制装置3与车辆调度系统2之间可以通过无线方式通信连接，例如通过蓝牙、局域网、红外或者V2X技术等现有的常规无线通信方式通信。优选地，在自动驾驶控制装置3设置有V2X设备，在车辆调度系统2设置有V2X设备，自动驾驶控制装置3和车辆调度系统2之间通过V2X通信技术进行通信。
在一些实施例中，装卸控制设备4与车辆调度系统2之间可以通过无线方式通信连接，例如通过蓝牙、局域网、红外或者V2X技术等现有的常规无线通信方式通信。优选地，可以在车辆调度系统2设置有V2X设备，在装卸控制设备4中设置有V2X设备，装卸控制设备4和车辆调度系统2之间通过V2X通信技术进行通信。
在一些实施例中，自动驾驶控制装置3与装卸控制设备4之间可以通过无线方式通信连接，例如通过蓝牙、局域网、红外或者V2X技术等现有的常规无线通信方式通信。优选地，在自动驾驶控制装置3设置有V2X设备，在装卸控制设备4设置有V2X设备，自动驾驶控制装置3和装卸控制设备4之间通过V2X通信技术进行通信。
实施例二
基于前述实施例一提供的实现自动装卸货的系统的相同原理，本发明实施例二提供一种管理系统1，该管理系统1结构如图2所示，包括第一通信单元11、货物管理单元12、运输计划生成单元13，其中：
第一通信单元11，用于收发信息；
货物管理单元12，用于管理货物信息；
运输计划生成单元13，用于根据所述货物信息生成运输计划，并通过所述第一通信单元11将所述运输计划发送给车辆调度系统。
所述货物管理单元12管理的货物信息可包括特定区域(例如临海港区、公路港区、物流园区、物流中心、货物集散地、仓库或矿区等)内包含的所有货物的基本信息，例如包括货物类型、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。运输计划生成单元13根据货物信息生成运输计划，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送达运输目的地的期限，确定各待运输货物的出库时间；为所述待运输货物生成包含运输信息的运输计划，所述运输信息可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、货物运输起点和货物运输终点。
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，例如在港区内包含大量的堆场，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；例如在物流园区包含大量的仓库，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，为及时更新货物信息，以便运输计划生成单元13能够生成精准的 运输计划，所述货物管理单元12，进一步用于：在通过所述第一通信单元11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。
实施例三
基于前述实施例一提供的实现自动装卸货的系统的相同原理，本发明实施例三提供一种车辆调度系统2，该车辆调度系统2的结构如图3所示，包括第二通信单元21、车辆管理单元22和调度单元23，其中：
第二通信单元21，用于收发信息；
车辆管理单元22，用于管理各自动驾驶车辆的运输状态；
调度单元23，用于在通过所述第二通信单元21接收到运输计划时，根据所述运输计划和各自动驾驶车辆的运输状态生成运输任务，并通过所述第二通信单元21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。
在一些实施例中，所述调度单元23进一步用于：在确定自动驾驶车辆完成对应的运输任务时，通过所述第二通信单元21向管理系统发送运输任务完成消息。
本发明实施例中，调度单元23确定自动驾驶车辆完成对应的运输任务，具体可通过但不仅限于以下方式实现：在通过所述第二通信单元21从自动驾驶控制装置接收到运输任务完成消息时，确定相应的自动驾驶车辆完成运输任务。
本发明实施例中，可以预先在调度单元23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))同步给车辆管理单元22。调度单元23在接收到运输计划时，根据所述运输计划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：针对每个运输计划，根据所述运输计划确定匹配条件，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运输计划匹配的自动驾驶车辆，并根据所述运输计划和匹配的自动驾驶车辆生成运输任务。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运输计划中的货物类型，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。
在一些实施例中，为及时更新车辆管理单元22中存储的自动驾驶车辆的运输状态，以便调度单元23能够生成精准的分配运输任务，本发明实施例中，车辆管理单元22进一步用于：通过第二通信单元21接收到自动驾驶车辆的位置信息和/或运输任务完成信息时，根据已完成的运输任务、位置信息更新相应的自动驾驶车辆的运输状态。
实施例四
基于前述实施例一提供的实现自动装卸货的系统的相同原理，本发明实施例四提供一种自动驾驶控制装置3，该自动驾驶控制装置3的结构如图4所示，包括第三通信单元31和第一控制单元32，其中：
第三通信单元31，用于收发信息；
第一控制单元32，用于在通过第三通信单元31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32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32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32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，第一控制单元32控制所述自动驾驶车辆从当前位置行驶到所述装货位置，具体实现可如下：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。具体可参见实施例一中相关的内容，在此不再赘述。
第一控制单元32控制所述自动驾驶车辆从装货位置行驶到所述卸货位置，具体实现可如下：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。具体可参见实施例一中的相关内容，在此不再赘述。
在一些实施例中，所述第一控制单元32确定装货完成，具体包括：
通过第三通信单元31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，具体可参见实施例一中的方式B1，在此不再赘述；
或者，通过第三通信单元31从车辆调度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，具体可参见实施例一中的方式B2，在此不再赘述；
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，具体可参见实施例一中的方式B3，在此不再赘述；
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，具体可参见实施例一中的方式B4，在此不再赘述；
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，具体可参见实施例一中的方式B5，在此不再赘述。
在一些实施例中，所述第一控制单元32确定卸货完成，具体包括：
通过第三通信单元31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，具体可参见实施例一中的方式C1，在此不再赘述；
或者，通过第三通信单元31从车辆调度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，具体可参见实施例一中的方式C2，在此不再赘述；
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，具体可参见实施例一中的方式C3，在此不再赘述；
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，具体可参见实施例一中的方式C4，在此不再赘述；
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，具体可参见实施例一中的方式C5，在此不再赘述。
本发明实施例中，所述第一控制单元32进一步用于，在确定运输任务完成时，向车辆管理系统发送运输任务完成消息。
实施例五
基于前述实施例一提供的实现自动装卸货的系统的相同原理，本发明实施例五提供一种装卸控制设备4，该装卸控制设备4的结构如图5所示，包括第四通信单元41和第二控制单元42，其中：
第四通信单元41，用于收发信息；
第二控制单元42，用于控制装卸设备对自动驾驶车辆进行自动装卸货。
在一些实施例中，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42控制装卸设备对自动驾驶车辆进行自动装卸货，具体包括：
通过第四通信单元41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，具体可参见实施例一中的方式D1，在此不再赘述；
或者，通过第四通信单元41从所述车辆调度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，具体可参见实施例一中的方式D2，在此不再赘述；
或者，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对所述自动驾驶车辆进行相应的装卸货，具体可参见实施例一中的方式D3，在此不再赘述。
在一些实施例中，所述第二控制单元42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。
在一个示例中，在所述装货指令中携带有待装货物ID号，所述第二控制单元42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，所述第二控制单元42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。
在一些实施例中，所述第二控制单元42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，具体请参见实施例一中相关内容，在此不再赘述；
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，具体请参见实施例一中的相关内容，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 (24)

  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、车辆调度系统、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；根据所述货物信息生成运输计划，并将所述运输计划发送给车辆调度系统；
    车辆调度系统，用于在接收到运输计划时，根据所述运输计划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，从车辆调度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，从车辆调度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车辆调度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，车辆调度系统根据所述运输计划和各自动驾驶车辆的运输状态生成运输任务，具体包括：
    针对每个运输计划，根据所述运输计划确定匹配条件，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运输计划匹配的自动驾驶车辆，并根据所述运输计划和匹配的自动驾驶车辆生成运输任务。
  10. 一种管理系统，其特征在于，包括：
    第一通信单元，用于收发信息；
    货物管理单元，用于管理货物信息；
    运输计划生成单元，用于根据所述货物信息生成运输计划，并通过所述第一通信单元将所述运输计划发送给车辆调度系统。
  11. 根据权利要求10所述的系统，其特征在于，所述货物管理单元，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。
  12. 一种车辆调度系统，其特征在于，包括：
    第二通信单元，用于收发信息；
    车辆管理单元，用于管理各自动驾驶车辆的运输状态；
    调度单元，用于在通过所述第二通信单元接收到运输计划时，根据所述运输计划和各自动驾驶车辆的运输状态生成运输任务，并通过所述第二通信单元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。
  13. 根据权利要求12所述的系统，其特征在于，所述调度单元进一步用于：在确定自动驾驶车辆完成对应的运输任务时，通过所述第二通信单元发送运输任务完成消息。
  14. 根据权利要求12所述的系统，其特征在于，调度单元根据所述运输计划和各自动驾驶车辆的运输状态生成运输任务，具体包括：
    针对每个运输计划，根据所述运输计划确定匹配条件，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运输计划匹配的自动驾驶车辆， 并根据所述运输计划和匹配的自动驾驶车辆生成运输任务。
  15. 一种自动驾驶控制装置，其特征在于，包括：
    第三通信单元，用于收发信息；
    第一控制单元，用于在通过第三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。
  16. 根据权利要求15所述的装置，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。
  17. 根据权利要求15所述的装置，其特征在于，所述运输任务包含装货位置和卸货位置，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。
  18. 根据权利要求16或17所述的装置，其特征在于，所述第一控制单元确定装货完成，具体包括：
    通过第三通信单元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，通过第三通信单元从车辆调度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。
  19. 根据权利要求16或17所述的装置，其特征在于，所述第一控制单元确定卸货完成，具体包括：
    通过第三通信单元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，通过第三通信单元从车辆调度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。
  20. 一种装卸控制设备，其特征在于，包括：
    第四通信单元，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。
  21. 根据权利要求20所述的装卸控制设备，其特征在于，每个装卸设备对应至少一个装卸货位置，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，具体包括：
    通过第四通信单元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，通过第四通信单元从所述车辆调度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，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。
  22. 根据权利要求21所述的装卸控制设备，其特征在于，所述第二控制单元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。
  23. 根据权利要求22所述的装卸控制设备，其特征在于，第二控制单元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。
  24. 一种自动驾驶车辆，其特征在于，包括自动驾驶控制装置，该装置包括：
    第三通信单元，用于收发信息；
    第一控制单元，用于在通过第三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。
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