WO2020140746A1 - 无人驾驶物流车自主运营方法、装置及存储介质 - Google Patents

无人驾驶物流车自主运营方法、装置及存储介质 Download PDF

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Publication number
WO2020140746A1
WO2020140746A1 PCT/CN2019/125988 CN2019125988W WO2020140746A1 WO 2020140746 A1 WO2020140746 A1 WO 2020140746A1 CN 2019125988 W CN2019125988 W CN 2019125988W WO 2020140746 A1 WO2020140746 A1 WO 2020140746A1
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WO
WIPO (PCT)
Prior art keywords
unloading
location
logistics vehicle
unmanned logistics
driving route
Prior art date
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PCT/CN2019/125988
Other languages
English (en)
French (fr)
Inventor
于宁
杨凡
吕雷兵
王成法
王俊平
Original Assignee
北京百度网讯科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to US17/251,665 priority Critical patent/US20210276597A1/en
Priority to EP19907509.4A priority patent/EP3812979B1/en
Priority to JP2020570011A priority patent/JP7281489B2/ja
Publication of WO2020140746A1 publication Critical patent/WO2020140746A1/zh

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    • 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
    • G06Q10/083—Shipping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
    • B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
    • 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
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • 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
    • 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
    • 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
    • G06Q30/00—Commerce
    • G06Q30/04—Billing or invoicing
    • 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
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/21—Voice
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing

Definitions

  • the invention relates to computer application technology, in particular to an autonomous operation method, device and storage medium of an unmanned logistics vehicle.
  • unmanned logistics vehicles can be used to transport goods.
  • unmanned logistics vehicles require manual operation/assistance, such as artificially setting pickup and unloading locations and manual opening
  • the warehouse door is used for loading and unloading, which not only increases the labor cost, but also reduces the efficiency of cargo transportation.
  • the present invention provides an autonomous operation method, device and storage medium for an unmanned logistics vehicle.
  • An autonomous operation method for unmanned logistics vehicles including:
  • Unmanned logistics vehicle obtains user's cargo transportation task
  • the unmanned logistics vehicle plans a driving route according to the cargo transportation task, and automatically drives to a destination point according to the driving route;
  • the unmanned logistics vehicle controls the warehouse door to open.
  • the method further includes: during automatic driving of the unmanned logistics vehicle, when it is determined that the distance from the destination point is less than a preset threshold, an arrival reminder is performed in a predetermined manner.
  • the predetermined method includes: sounding a whistle, flashing a specific indicator light or displaying text on the screen.
  • the unmanned logistics vehicle plans a driving route according to the cargo transportation task, and automatically driving to a destination point according to the driving route includes:
  • after automatically driving to the pickup location according to the driving route it further includes: when it is determined that the loading is completed, controlling the warehouse door to close;
  • the method further includes: when it is determined that unloading is completed, controlling the warehouse door to close.
  • the determination of completion of loading includes:
  • a predetermined gesture indicating that the loading is completed is monitored
  • the determination of completion of unloading includes:
  • a predetermined gesture indicating that the unloading is completed is monitored
  • the method further includes: when it is determined that the unloading is completed, the unmanned logistics vehicle determines the mileage and the weight of the cargo transported this time, and according to the mileage and the weight of the cargo Determine the settlement bill and send the settlement bill to the user.
  • An autonomous operation device for an unmanned logistics vehicle includes: an acquisition unit and a control unit;
  • the acquiring unit is used to acquire the user's cargo transportation task
  • the control unit is configured to plan a driving route according to the cargo transportation task, control the unmanned logistics vehicle to automatically travel to a destination point according to the driving route, and control the unmanned driving when the destination point is reached
  • the warehouse door of the logistics vehicle opens.
  • control unit is further configured to, when it is determined that the distance from the destination point is less than a preset threshold during automatic driving, arrive at an arrival reminder in a predetermined manner.
  • the predetermined method includes: sounding a whistle, flashing a specific indicator light or displaying text on the screen.
  • the control unit uses the current location as a starting point and the pickup location in the cargo transportation task as a destination point to plan a driving route from the current location to the pickup location ,
  • control the unmanned logistics vehicle to automatically drive to the pickup location, when it is determined that the loading is completed, use the pickup location as a starting point, and the unloading location in the cargo transportation task as A destination location, planning a driving route from the pickup location to the unloading location, and controlling the unmanned logistics vehicle to automatically drive to the unloading location according to the driving route.
  • control unit is further used for,
  • the warehouse door is controlled to be closed;
  • the warehouse door After controlling the unmanned logistics vehicle to automatically drive to the unloading location according to the driving route, if it is determined that unloading is completed, the warehouse door is controlled to be closed.
  • the control unit receives a loading completion notification sent by a predetermined APP, or monitors a predetermined gesture indicating loading completion, or receives a voice instruction indicating loading completion, or, It is detected that the predetermined button on the unmanned logistics vehicle is pressed, and it is determined that the loading is completed;
  • the control unit receives an unloading completion notification sent by a predetermined APP, or monitors a predetermined gesture indicating unloading completion, or receives a voice instruction indicating unloading completion, or monitors the unmanned logistics vehicle When the predetermined button is pressed, it is determined that the unloading is completed.
  • control unit is further used to determine the mileage and weight of the cargo transported after the unloading is completed, and determine the settlement bill based on the mileage and weight of the cargo. Sending the settlement bill to the user.
  • a computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method as described above is implemented.
  • the unmanned logistics vehicle can automatically plan the driving route according to the cargo transportation task and automatically drive to the destination point according to the driving route.
  • it can automatically control the opening of the warehouse door, etc., which saves a lot of manual operations, saves labor costs, and improves the efficiency of cargo transportation.
  • FIG. 1 is a flowchart of a first embodiment of a method for autonomous operation of an unmanned logistics vehicle according to the present invention.
  • FIG. 2 is a flowchart of a second embodiment of the autonomous operation method of an unmanned logistics vehicle according to the present invention.
  • FIG. 3 is a flowchart of a third embodiment of the autonomous operation method of an unmanned logistics vehicle according to the present invention.
  • FIG. 4 is a schematic diagram of the overall implementation process of the autonomous operation mode of the unmanned logistics vehicle according to the present invention.
  • FIG. 5 is a schematic structural diagram of an embodiment of an autonomous operation device of an unmanned logistics vehicle according to the present invention.
  • FIG. 6 shows a block diagram of an exemplary computer system/server 12 suitable for implementing embodiments of the present invention.
  • FIG. 1 is a flowchart of a first embodiment of a method for autonomous operation of an unmanned logistics vehicle according to the present invention. As shown in Figure 1, the following specific implementations are included.
  • an unmanned logistics vehicle obtains a user's cargo transportation task.
  • the unmanned logistics vehicle plans the driving route according to the cargo transportation task, and automatically drives to the destination point according to the driving route.
  • the unmanned logistics vehicle controls the warehouse door to open.
  • users can place an order on the mobile terminal of the mobile phone, or place an order on the order platform through a personal computer (PC, Personal Computer), etc., where the order on the mobile terminal of the mobile phone can be through a WeChat
  • the small order can also be placed through a public account of interest.
  • the user When placing an order, the user needs to set the pickup location and the unloading location.
  • the unmanned logistics vehicle After the unmanned logistics vehicle obtains the cargo transportation task, it can automatically plan the driving route according to the cargo transportation task and automatically drive to the destination according to the planned driving route location.
  • the unmanned logistics vehicle needs to carry out two driving route planning, one of which is the driving route planning from the current location to the pickup location, and the other is from the pickup location to the unloading location Driving route planning.
  • the unmanned logistics vehicle can use the current location as the starting point and the pickup location as the destination point, plan the driving route from the current location to the pickup location, and follow the plan The driving route automatically travels to the pickup location to pick up the goods.
  • the unmanned logistics vehicle can use the pickup location as the starting point and the unloading location as the destination point, plan the driving route from the pickup location to the unloading location, and automatically drive to the unloading according to the planned driving route Unload at the location.
  • the arrival reminder when approaching the destination point, that is, when the distance from the destination point is less than the preset threshold, the arrival reminder can be performed according to a predetermined method to notify the staff at the destination point to do loading or unloading ready.
  • the unmanned logistics vehicle After reaching the destination point, the unmanned logistics vehicle can automatically control the opening of the warehouse door, so that the staff at the destination point can load or unload. When it is determined that the loading or unloading is completed, the unmanned logistics vehicle can also automatically control the closing of the warehouse door.
  • FIG. 2 is a flowchart of a second embodiment of the autonomous operation method of the unmanned logistics vehicle according to the present invention. As shown in Figure 2, the following specific implementations are included.
  • a user's cargo transportation task is obtained.
  • a driving route from the current location to the pickup location is planned, and automatically travels to the pickup location according to the planned driving route.
  • the planned driving route from the current location to the pickup location may refer to the shortest driving route from the current location to the pickup location, or may refer to the shortest driving route from the current location to the pickup location Wait.
  • the unmanned logistics vehicle can automatically drive to the pickup location for pickup according to the planned driving route.
  • an arrival reminder is performed in a predetermined manner.
  • the unmanned logistics vehicle goes to the pickup location, when it is determined that the distance from the pickup location is less than the preset threshold, it can be reminded to arrive in a predetermined manner.
  • the distance between the current location and the pickup location can be periodically judged.
  • the arrival reminder can be performed according to a predetermined method, that is The staff at the cargo location are ready to load.
  • the specific value of the threshold may be determined according to actual needs, such as 20 meters or 10 meters.
  • the specific manner of the predetermined method is not limited, and can also be determined according to actual needs.
  • it can be a whistle, and the staff at the pickup location can be reminded by the whistle to arrive immediately, ready to load, or it can be a flashing specific indicator light, or it can be a screen text display method Wait.
  • control warehouse door is opened.
  • the unmanned logistics vehicle After the unmanned logistics vehicle arrives at the pickup location and stops the car, it can automatically control the opening of the warehouse door so that the staff at the pickup location can load the goods.
  • the loading staff can be humans or robots.
  • the unmanned logistics vehicle can determine whether the loading is completed by a predetermined method.
  • the staff at the pickup location can interact with the unmanned logistics vehicle by operating the APP installed on the mobile phone to notify the unmanned logistics vehicle that the loading is completed.
  • a predetermined gesture indicating that the loading is completed is monitored, it may be determined that the loading is completed.
  • the staff at the pickup location can issue a predetermined gesture indicating that the loading is completed. After the camera on the unmanned logistics vehicle collects the gesture, the loading can be confirmed.
  • a voice instruction indicating the completion of the loading is received, it may be determined that the loading is completed.
  • the staff at the pickup location can issue a voice instruction indicating that the loading is completed, and notify the unmanned logistics vehicle that the loading is completed.
  • a button can be set at a certain position of the body of the unmanned logistics vehicle.
  • the staff at the pickup location can press the button to notify the unmanned logistics vehicle that the loading is completed.
  • the unmanned logistics vehicle can automatically control the closing of the warehouse door.
  • FIG. 3 is a flowchart of a third embodiment of the autonomous operation method of an unmanned logistics vehicle according to the present invention. As shown in FIG. 3, the following specific implementations are included.
  • the pickup location is used as the starting point, and the unloading location in the cargo transportation task is used as the destination point.
  • a driving route from the picking location to the unloading location is planned, and the driving route is automatically driven to the unloading location .
  • the planned driving route from the pickup location to the unloading location may refer to the shortest driving route from the picking location to the unloading location, or may refer to the shortest driving route from the picking location to the unloading location.
  • the unmanned logistics vehicle can automatically drive to the unloading location for unloading according to the planned driving route.
  • an arrival reminder is performed in a predetermined manner.
  • the unmanned logistics vehicle goes to the unloading location, when it is determined that the distance from the unloading location is less than the preset threshold, it can be reminded to arrive in a predetermined manner.
  • the whistle can be used to remind the staff at the unloading location that the vehicle will arrive immediately to prepare for unloading, or it can flash a specific indicator light, or it can be displayed on the screen.
  • the unmanned logistics vehicle After the unmanned logistics vehicle arrives at the unloading site and stops the car, it can automatically control the opening of the warehouse door so that the unloading site staff can unload.
  • the unmanned logistics vehicle can determine whether the unloading is completed by a predetermined method. For example, if a notification of completion of unloading sent from a predetermined APP is received, it can be determined that the unloading is completed. As another example, if a predetermined gesture indicating that the unloading is completed is monitored, it may be determined that the unloading is completed. As another example, if a voice instruction indicating the completion of unloading is received, it can be determined that the unloading is completed. For another example, if it is monitored that a predetermined button on the unmanned logistics vehicle is pressed, it can be determined that the unloading is completed.
  • the unmanned logistics vehicle can automatically control the closing of the warehouse door.
  • the driving mileage and the weight of the cargo are determined, and the settlement bill is determined according to the driving mileage and the weight of the cargo, and the settlement bill is sent to the user.
  • the unmanned logistics vehicle can obtain the weight of the cargo based on the weight sensor, or it can also calculate the weight of the cargo based on the vehicle dynamics.
  • the specific implementation is not limited.
  • the settlement bill can be calculated according to the preset calculation rules, and the settlement bill can be sent to the user so that the user can complete the payment according to the settlement bill.
  • FIG. 4 is a schematic diagram of the overall implementation process of the autonomous operation mode of the unmanned logistics vehicle according to the present invention.
  • the unmanned logistics vehicle can use the current location as a starting point and the pickup location in the cargo transportation task as the destination point, planning from the current location to the pickup location Of the driving route, automatically travel to the pickup location according to the planned driving route to pick up the goods.
  • the distance to the pickup location is less than the preset threshold, you can be prompted to prepare for loading according to the predetermined method.
  • the warehouse door can be controlled to open for loading, and after the loading is completed, the warehouse door can be controlled to be closed, and the pickup location can be used as the starting point, and the unloading location in the cargo transportation task can be used as the destination point, planning from picking location to unloading
  • the driving route at the location automatically travels to the unloading location to unload according to the driving route.
  • the unmanned logistics vehicle can automatically plan the driving route according to the cargo transportation task, and automatically drive to the destination point according to the driving route.
  • the warehouse door can be automatically controlled to open, and when the loading or unloading is completed, the warehouse door can be automatically controlled to close, etc., thereby saving a lot of manual operations, thereby saving labor costs, and improving the efficiency of cargo transportation.
  • FIG. 5 is a schematic structural diagram of an embodiment of an autonomous operation device of an unmanned logistics vehicle according to the present invention. As shown in FIG. 5, it includes: an acquisition unit 501 and a control unit 502.
  • the obtaining unit 501 is used to obtain a user's cargo transportation task.
  • the control unit 502 is used to plan a driving route according to the cargo transportation task, and control the unmanned logistics vehicle to automatically drive to the destination point according to the driving route.
  • the warehouse door of the unmanned logistics vehicle is opened.
  • two driving route plannings are required, one of which is from the current location to the pickup location, and the other is from the pickup location to the unloading location.
  • control unit 502 can use the current location as a starting point and the pickup location in the cargo transportation task as the destination point, plan a driving route from the current location to the pickup location, and control the automatic driving of the unmanned logistics vehicle according to the driving route Drive to the pickup location.
  • the pickup location When the loading is confirmed, use the pickup location as the starting point and the unloading location in the cargo transportation task as the destination. Plan the driving route from the pickup location to the unloading location. Drive the logistics vehicle to the unloading location automatically.
  • the control unit 502 may also provide an arrival reminder according to a predetermined manner, so as to notify the staff at the destination point to prepare for loading or unloading.
  • the arrival reminder can be made by sounding a whistle, flashing a specific indicator light or displaying text on the screen.
  • control unit 502 When arriving at the pickup location, the control unit 502 can automatically control the opening of the warehouse door so that the staff at the pickup location can load. When arriving at the unloading location, the control unit 502 can also automatically control the opening of the warehouse door to facilitate the work at the unloading location Personnel unload.
  • control unit 502 can automatically control the closing of the warehouse door, and after reaching the unloading location, if it is determined that the unloading is completed, the control unit 502 can also automatically control the closing of the warehouse door.
  • the control unit 502 determines that the loading is completed by receiving a loading completion notification sent by a predetermined APP, or by monitoring a predetermined gesture indicating that the loading is completed, or by receiving a voice instruction indicating that the loading is completed, or It may be monitored that a predetermined button on the unmanned logistics vehicle is pressed.
  • control unit 502 determines that the unloading is completed by receiving the unloading completion notification sent by the predetermined APP, or by monitoring a predetermined gesture indicating that the unloading is completed, or by receiving a voice instruction indicating that the unloading is completed, or It is monitored that a predetermined button on the unmanned logistics vehicle is pressed.
  • control unit 502 can also determine the mileage and cargo weight of the current cargo transportation, determine a settlement bill based on the mileage and cargo weight, and send the settlement bill to the user.
  • the unmanned logistics vehicle after acquiring the user's cargo transportation task, can automatically plan the driving route according to the cargo transportation task, and automatically drive to the destination point according to the driving route.
  • the warehouse door After the destination location, the warehouse door can be automatically controlled to open, and when the loading or unloading is completed, the warehouse door can be automatically controlled to close, etc., thereby saving a lot of manual operations, thereby saving labor costs, and improving the efficiency of cargo transportation.
  • FIG. 6 shows a block diagram of an exemplary computer system/server 12 suitable for implementing embodiments of the present invention.
  • the computer system/server 12 shown in FIG. 6 is only an example, and should not bring any limitation to the functions and use scope of the embodiments of the present invention.
  • the computer system/server 12 is represented in the form of a general-purpose computing device.
  • the components of the computer system/server 12 may include, but are not limited to, one or more processors (processing units) 16, a memory 28, and a bus 18 connecting different system components (including the memory 28 and the processor 16).
  • the bus 18 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures.
  • these architectures include, but are not limited to, industry standard architecture (ISA) bus, microchannel architecture (MAC) bus, enhanced ISA bus, video electronics standard association (VESA) local bus, and peripheral component interconnection ( PCI) bus.
  • ISA industry standard architecture
  • MAC microchannel architecture
  • VESA video electronics standard association
  • PCI peripheral component interconnection
  • the computer system/server 12 typically includes a variety of computer system readable media. These media may be any available media that can be accessed by the computer system/server 12, including volatile and non-volatile media, removable and non-removable media.
  • the memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32.
  • the computer system/server 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • the storage system 34 may be used to read and write non-removable, non-volatile magnetic media (not shown in FIG. 6 and is commonly referred to as a "hard disk drive").
  • a disk drive for reading and writing to a removable non-volatile magnetic disk (for example, "floppy disk")
  • a removable non-volatile optical disk for example, CD-ROM, DVD-ROM Or other optical media
  • each drive may be connected to the bus 18 through one or more data medium interfaces.
  • the memory 28 may include at least one program product having a set of (eg, at least one) program modules configured to perform the functions of various embodiments of the present invention.
  • a program/utility tool 40 having a set of (at least one) program modules 42 may be stored in, for example, the memory 28.
  • Such program modules 42 include, but are not limited to, an operating system, one or more application programs, and other programs Modules and program data, each of these examples or some combination may include the implementation of the network environment.
  • the program module 42 generally performs the functions and/or methods in the embodiments described in the present invention.
  • the computer system/server 12 can also communicate with one or more external devices 14 (eg, keyboard, pointing device, display 24, etc.), and can also communicate with one or more devices that enable users to interact with the computer system/server 12, And/or communicate with any device (eg, network card, modem, etc.) that enables the computer system/server 12 to communicate with one or more other computing devices. This communication can be performed through an input/output (I/O) interface 22.
  • the computer system/server 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 20. As shown in FIG.
  • the network adapter 20 communicates with other modules of the computer system/server 12 through the bus 18. It should be understood that although not shown in the figure, other hardware and/or software modules may be used in conjunction with the computer system/server 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, Tape drives and data backup storage systems, etc.
  • the processor 16 executes various functional applications and data processing by running programs stored in the memory 28, for example, to implement the method in the embodiments shown in FIG. 1, FIG. 2, or FIG.
  • the present invention also discloses a computer-readable storage medium on which a computer program is stored.
  • a computer program is stored on which a computer program is stored.
  • the program is executed by a processor, the method in the embodiments shown in FIG. 1, FIG. 2 or FIG. 3 will be implemented.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal that is propagated in baseband or as part of a carrier wave, in which computer-readable program code is carried. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.
  • the computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. .
  • the program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • the computer program code for performing the operations of the present invention can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, through an Internet service provider Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider Internet connection for example, AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
  • the disclosed device and method, etc. may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division, and there may be another division manner in actual implementation.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
  • the above software functional unit is stored in a storage medium, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform the methods described in the embodiments of the present invention Partial steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

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Abstract

无人驾驶物流车自主运营方法、装置及存储介质，其中方法包括：无人驾驶物流车获取用户的货物运输任务（101）；根据货物运输任务规划行驶路线，按照行驶路线自动行驶到目的地点（102）；当到达目的地点后，控制仓门打开（103），此方法能够节省人力成本，并提升货物运输效率等。

Description

无人驾驶物流车自主运营方法、装置及存储介质
本申请要求了申请日为2019年01月04日，申请号为201910007932.1发明名称为“无人驾驶物流车自主运营方法、装置及存储介质”的中国专利申请的优先权。
技术领域
本发明涉及计算机应用技术，特别涉及无人驾驶物流车自主运营方法、装置及存储介质。
背景技术
随着技术的发展，无人驾驶车辆的应用范围越来越广泛，比如，可以利用无人驾驶物流车来进行货物运输等。
目前，关于无人驾驶物流车的研发还处于比较初级的阶段，无人驾驶物流车在货物运输过程中，很多环节都需要人为操作/辅助，如人为设定取货地点和卸货地点、人工打开仓门以便装货和卸货等，这样不但增大了人力成本，而且也降低了货物运输效率。
发明内容
有鉴于此，本发明提供了无人驾驶物流车自主运营方法、装置及存储介质。
具体技术方案如下：
一种无人驾驶物流车自主运营方法，包括：
无人驾驶物流车获取用户的货物运输任务；
所述无人驾驶物流车根据所述货物运输任务规划行驶路线，按照所述行驶路线自动行驶到目的地点；
当到达所述目的地点后，所述无人驾驶物流车控制仓门打开。
根据本发明一优选实施例，该方法进一步包括：所述无人驾驶物流车在自动行驶过程中，当确定距离所述目的地点小于预先设定的阈值时，按照预定方式进行到达提醒。
根据本发明一优选实施例，所述预定方式包括：鸣笛、闪烁特定的 指示灯或屏幕文字展示。
根据本发明一优选实施例，所述所述无人驾驶物流车根据所述货物运输任务规划行驶路线，按照所述行驶路线自动行驶到目的地点包括：
当获取到所述货物运输任务后，将当前所在位置作为起点，将所述货物运输任务中的取货地点作为目的地点，规划从所述当前所在位置到所述取货地点的行驶路线，按照所述行驶路线自动行驶到所述取货地点；
当确定装货完成后，将所述取货地点作为起点，将所述货物运输任务中的卸货地点作为目的地点，规划从所述取货地点到所述卸货地点的行驶路线，按照所述行驶路线自动行驶到所述卸货地点。
根据本发明一优选实施例，所述按照所述行驶路线自动行驶到所述取货地点之后，进一步包括：当确定装货完成后，控制所述仓门关闭；
所述按照所述行驶路线自动行驶到所述卸货地点之后，进一步包括：当确定卸货完成后，控制所述仓门关闭。
根据本发明一优选实施例，所述确定装货完成包括：
接收到预定APP发送来的装货完成通知；
或者，监控到表示装货完成的预定手势；
或者，接收到表示装货完成的语音指令；
或者，监控到所述无人驾驶物流车上的预定按键被按压；
所述确定卸货完成包括：
接收到预定APP发送来的卸货完成通知；
或者，监控到表示卸货完成的预定手势；
或者，接收到表示卸货完成的语音指令；
或者，监控到所述无人驾驶物流车上的预定按键被按压；
根据本发明一优选实施例，该方法进一步包括：当确定卸货完成后，所述无人驾驶物流车确定出本次货物运输的行驶里程以及货物重量，并根据所述行驶里程以及所述货物重量确定出结算账单，将所述结算账单发送给所述用户。
一种无人驾驶物流车自主运营装置，包括：获取单元以及控制单元；
所述获取单元，用于获取用户的货物运输任务；
所述控制单元，用于根据所述货物运输任务规划行驶路线，按照所述行驶路线控制所述无人驾驶物流车自动行驶到目的地点，当到达所述 目的地点后，控制所述无人驾驶物流车的仓门打开。
根据本发明一优选实施例，所述控制单元进一步用于，在自动行驶过程中，当确定距离所述目的地点小于预先设定的阈值时，按照预定方式进行到达提醒。
根据本发明一优选实施例，所述预定方式包括：鸣笛、闪烁特定的指示灯或屏幕文字展示。
根据本发明一优选实施例，所述控制单元将当前所在位置作为起点，将所述货物运输任务中的取货地点作为目的地点，规划从所述当前所在位置到所述取货地点的行驶路线，按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述取货地点，当确定装货完成后，将所述取货地点作为起点，将所述货物运输任务中的卸货地点作为目的地点，规划从所述取货地点到所述卸货地点的行驶路线，按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述卸货地点。
根据本发明一优选实施例，所述控制单元进一步用于，
在按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述取货地点之后，若确定装货完成，则控制所述仓门关闭；
在按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述卸货地点之后，若确定卸货完成，则控制所述仓门关闭。
根据本发明一优选实施例，所述控制单元接收到预定APP发送来的装货完成通知，或者，监控到表示装货完成的预定手势，或者，接收到表示装货完成的语音指令，或者，监控到所述无人驾驶物流车上的预定按键被按压，则确定装货完成；
所述控制单元接收到预定APP发送来的卸货完成通知，或者，监控到表示卸货完成的预定手势，或者，接收到表示卸货完成的语音指令，或者，监控到所述无人驾驶物流车上的预定按键被按压，则确定卸货完成。
根据本发明一优选实施例，所述控制单元进一步用于，当确定卸货完成后，确定出本次货物运输的行驶里程以及货物重量，根据所述行驶里程以及所述货物重量确定出结算账单，将所述结算账单发送给所述用户。
一种计算机设备，包括存储器、处理器及存储在所述存储器上并可 在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如以上所述的方法。
一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现如以上所述的方法。
基于上述介绍可以看出，采用本发明所述方案，无人驾驶物流车在获取到用户的货物运输任务后，可自动地根据货物运输任务规划行驶路线，并按照行驶路线自动行驶到目的地点，当到达目的地点后，可自动控制仓门打开等，从而省去了很多人工操作，节省了人力成本，并提升了货物运输效率等。
附图说明
图1为本发明所述无人驾驶物流车自主运营方法第一实施例的流程图。
图2为本发明所述无人驾驶物流车自主运营方法第二实施例的流程图。
图3为本发明所述无人驾驶物流车自主运营方法第三实施例的流程图。
图4为本发明所述无人驾驶物流车自主运营方式的整体实现过程示意图。
图5为本发明所述无人驾驶物流车自主运营装置实施例的组成结构示意图。
图6示出了适于用来实现本发明实施方式的示例性计算机系统/服务器12的框图。
具体实施方式
为了使本发明的技术方案更加清楚、明白，以下参照附图并举实施例，对本发明所述方案进行进一步说明。
显然，所描述的实施例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，本领域技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
另外，应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关 联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
图1为本发明所述无人驾驶物流车自主运营方法第一实施例的流程图。如图1所示，包括以下具体实现方式。
在101中，无人驾驶物流车获取用户的货物运输任务。
在102中，无人驾驶物流车根据货物运输任务规划行驶路线，按照行驶路线自动行驶到目的地点。
在103中，当到达目的地点后，无人驾驶物流车控制仓门打开。
当用户有货物运输需求时，可通过某种方式下单。所述方式具体为何种方式不作限制。比如，用户可以采用在手机移动端上下单的方式，也可以采用通过个人计算机(PC，Personal Computer)在下单平台上下单的方式等，其中，在手机移动端上下单的方式可以是通过一个微信小程序下单，也可以是通过关注的一个公众号下单等。
用户在下单时，需要设定好取货地点和卸货地点，无人驾驶物流车获取到货物运输任务后，可自动地根据货物运输任务规划行驶路线，并按照规划出的行驶路线自动行驶到目的地点。
通常来说，针对一个货物运输任务，无人驾驶物流车需要进行两次行驶路线规划，其中一次为从当前所在位置到取货地点的行驶路线规划，另外一次为从取货地点到卸货地点的行驶路线规划。
也就是说，当获取到货物运输任务后，无人驾驶物流车可将当前所在位置作为起点，将取货地点作为目的地点，规划从当前所在位置到取货地点的行驶路线，并按照规划出的行驶路线自动行驶到取货地点取货。当确定装货完成后，无人驾驶物流车可将取货地点作为起点，将卸货地点作为目的地点，规划从取货地点到卸货地点的行驶路线，并按照规划出的行驶路线自动行驶到卸货地点卸货。
无人驾驶物流车在自动行驶过程中，当临近目的地点时，即距离目的地点小于预先设定的阈值时，可按照预定方式进行到达提醒，以便通知目的地点的工作人员做好装货或卸货准备。
当到达目的地点后，无人驾驶物流车可自动控制仓门打开，以便目的地点的工作人员进行装货或卸货。当确定装货或卸货完成后，无人驾 驶物流车还可自动控制仓门关闭。
基于上述介绍，图2为本发明所述无人驾驶物流车自主运营方法第二实施例的流程图。如图2所示，包括以下具体实现方式。
在201中，获取用户的货物运输任务。
在202中，将当前所在位置作为起点，将货物运输任务中的取货地点作为目的地点，规划从当前所在位置到取货地点的行驶路线，按照规划出的行驶路线自动行驶到取货地点。
规划出的从当前所在位置到取货地点的行驶路线，可以是指从当前所在位置到取货地点路程最短的行驶路线，也可以是指从当前所在位置到取货地点行驶时间最短的行驶路线等。
无人驾驶物流车可按照规划出的行驶路线，自动行驶到取货地点进行取货。
在203中，当确定距离取货地点小于预先设定的阈值时，按照预定方式进行到达提醒。
无人驾驶物流车在前往取货地点的过程中，当确定距离取货地点小于预先设定的阈值时，可按照预定方式进行到达提醒。
比如，在前往取货地点的过程中，可周期性地判断当前所在位置与取货地点之间的距离，当该距离小于预先设定的阈值时，可按照预定方式进行到达提醒，即提示取货地点的工作人员准备装货。
所述阈值的具体取值可根据实际需要而定，比如可为20米或10米等。
所述预定方式具体为何种方式不作限制，同样可根据实际需要而定。比如，可以是鸣笛的方式，通过鸣笛提示取货地点的工作人员车辆马上到达，准备装货，或者，也可以是闪烁特定的指示灯的方式，或者，还可以是屏幕文字展示的方式等。
在204中，当到达取货地点后，控制仓门打开。
无人驾驶物流车到达取货地点并停好车之后，可自动地控制仓门打开，以便取货地点的工作人员装货。装货的工作人员可以是人，也可以是机器人。
在205中，当确定装货完成后，控制仓门关闭。
无人驾驶物流车可以通过预定方式确定是否装货完成。
比如，若接收到预定APP发送来的装货完成通知，则可确定装货完成。当装货完成后，取货地点的工作人员可通过操作手机上安装的APP来与无人驾驶物流车进行交互，通知无人驾驶物流车装货完成。
再比如，若监控到表示装货完成的预定手势，则可确定装货完成。当装货完成后，取货地点的工作人员可发出表示装货完成的预定手势，无人驾驶物流车上的相机采集到该手势后，即可确定装货完成。
再比如，若接收到表示装货完成的语音指令，则可确定装货完成。当装货完成后，取货地点的工作人员可发出表示装货完成的语音指令，通知无人驾驶物流车装货完成。
再比如，若监控到无人驾驶物流车上的预定按键被按压，则可确定装货完成。无人驾驶物流车车体的某一位置可设置有一个按键，当装货完成后，取货地点的工作人员可按压该按键，从而通知无人驾驶物流车装货完成。
当确定装货完成后，无人驾驶物流车可自动地控制仓门关闭。
图3为本发明所述无人驾驶物流车自主运营方法第三实施例的流程图。如图3示，包括以下具体实现方式。
在301中，当确定装货完成后，将取货地点作为起点，将货物运输任务中的卸货地点作为目的地点，规划从取货地点到卸货地点的行驶路线，按照行驶路线自动行驶到卸货地点。
规划出的从取货地点到卸货地点的行驶路线，可以是指从取货地点到卸货地点路程最短的行驶路线，也可以是指从取货地点到卸货地点行驶时间最短的行驶路线等。
无人驾驶物流车可按照规划出的行驶路线，自动行驶到卸货地点进行卸货。
在302中，当确定距离卸货地点小于预先设定的阈值时，按照预定方式进行到达提醒。
无人驾驶物流车在前往卸货地点的过程中，当确定距离卸货地点小于预先设定的阈值时，可按照预定方式进行到达提醒。
所述预定方式具体为何种方式不作限制。比如，可以是鸣笛的方式，通过鸣笛提示卸货地点的工作人员车辆马上到达，准备卸货，或者，也可以是闪烁特定的指示灯的方式，或者，还可以是屏幕文字展示的方式 等。
在303中，当到达卸货地点后，控制仓门打开。
无人驾驶物流车到达卸货地点并停好车之后，可自动地控制仓门打开，以便卸货地点的工作人员进行卸货。
在304中，当确定卸货完成后，控制仓门关闭。
无人驾驶物流车可以通过预定方式确定是否卸货完成。比如，若接收到预定APP发送来的卸货完成通知，则可确定卸货完成。再比如，若监控到表示卸货完成的预定手势，则可确定卸货完成。再比如，若接收到表示卸货完成的语音指令，则可确定卸货完成。再比如，若监控到无人驾驶物流车上的预定按键被按压，则可确定卸货完成。
当确定卸货完成后，无人驾驶物流车可自动地控制仓门关闭。
在305中，确定出本次货物运输的行驶里程以及货物重量，并根据行驶里程以及货物重量确定出结算账单，将结算账单发送给用户。
无人驾驶物流车可基于重量传感器来获取货物重量，或者，也可以基于车辆动力学计算出货物重量等，具体实现方式不限。
根据行驶里程以及货物重量，可按照预先设定的计算规则计算出结算账单，并可将结算账单发送给用户，以便用户按照结算账单完成支付。
综合上述介绍，图4为本发明所述无人驾驶物流车自主运营方式的整体实现过程示意图。如图4所示，无人驾驶物流车获取到用户的货物运输任务后，可将当前所在位置作为起点，将货物运输任务中的取货地点作为目的地点，规划从当前所在位置到取货地点的行驶路线，按照规划出的行驶路线自动行驶到取货地点取货，其中，当确定距离取货地点小于预先设定的阈值时，可按照预定方式提示准备装货，当到达取货地点后，可控制仓门打开，以便装货，装货完成后，可控制仓门关闭，并可将取货地点作为起点，将货物运输任务中的卸货地点作为目的地点，规划从取货地点到卸货地点的行驶路线，按照行驶路线自动行驶到卸货地点卸货，当确定距离卸货地点小于预先设定的阈值时，可按照预定方式提示准备卸货，当到达卸货地点后，可控制仓门打开，以便卸货，卸货完成，可控制仓门关闭，并可计算出结算账单，发送给用户，以便用户支付费用，完成本次货物运输任务。
需要说明的是，对于前述的各方法实施例，为了简单描述，将其都 表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
总之，采用本发明方法实施例所述方案，无人驾驶物流车在获取到用户的货物运输任务后，可自动地根据货物运输任务规划行驶路线，并按照行驶路线自动行驶到目的地点，当到达目的地点后，可自动控制仓门打开，当装货或卸货完成后，可自动控制仓门关闭等，从而省去很多人工操作，进而节省了人力成本，并提升了货物运输效率等。
以上是关于方法实施例的介绍，以下通过装置实施例，对本发明所述方案进行进一步说明。
图5为本发明所述无人驾驶物流车自主运营装置实施例的组成结构示意图。如图5所示，包括：获取单元501以及控制单元502。
获取单元501，用于获取用户的货物运输任务。
控制单元502，用于根据货物运输任务规划行驶路线，按照行驶路线控制无人驾驶物流车自动行驶到目的地点，当到达目的地点后，控制无人驾驶物流车的仓门打开。
通常来说，针对一个货物运输任务，需要进行两次行驶路线规划，其中一次为从当前所在位置到取货地点的行驶路线规划，另外一次为从取货地点到卸货地点的行驶路线规划。
具体地，控制单元502可将当前所在位置作为起点，将货物运输任务中的取货地点作为目的地点，规划从当前所在位置到取货地点的行驶路线，按照行驶路线控制无人驾驶物流车自动行驶到取货地点，当确定装货完成后，将取货地点作为起点，将货物运输任务中的卸货地点作为目的地点，规划从取货地点到卸货地点的行驶路线，按照行驶路线控制无人驾驶物流车自动行驶到卸货地点。
其中，在自动行驶过程中，当确定距离目的地点小于预先设定的阈值时，控制单元502还可按照预定方式进行到达提醒，以便通知目的地 点的工作人员做好装货或卸货准备。比如，可通过鸣笛、闪烁特定的指示灯或屏幕文字展示等方式进行到达提醒。
当到达取货地点后，控制单元502可自动控制仓门打开，以便取货地点的工作人员进行装货，当到达卸货地点后，控制单元502也可自动控制仓门打开，以便卸货地点的工作人员进行卸货。
另外，在到达取货地点之后，若确定装货完成，控制单元502可自动控制仓门关闭，在到达卸货地点之后，若确定卸货完成，控制单元502也可自动控制仓门关闭。
控制单元502确定装货完成的方式可以是接收到预定APP发送来的装货完成通知，也可以是监控到表示装货完成的预定手势，也可以是接收到表示装货完成的语音指令，还可以是监控到无人驾驶物流车上的预定按键被按压等。
类似地，控制单元502确定卸货完成的方式可以是接收到预定APP发送来的卸货完成通知，也可以是监控到表示卸货完成的预定手势，也可以是接收到表示卸货完成的语音指令，还可以是监控到无人驾驶物流车上的预定按键被按压等。
另外，当确定卸货完成后，控制单元502还可以确定出本次货物运输的行驶里程以及货物重量，根据行驶里程以及货物重量确定出结算账单，将结算账单发送给用户等。
图5所示装置实施例的具体工作流程请参照前述方法实施例中的相关说明，不再赘述。
总之，采用本发明装置实施例所述方案，无人驾驶物流车在获取到用户的货物运输任务后，可自动地根据货物运输任务规划行驶路线，并按照行驶路线自动行驶到目的地点，当到达目的地点后，可自动控制仓门打开，当装货或卸货完成后，可自动控制仓门关闭等，从而省去很多人工操作，进而节省了人力成本，并提升了货物运输效率等。
图6示出了适于用来实现本发明实施方式的示例性计算机系统/服务器12的框图。图6显示的计算机系统/服务器12仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。
如图6所示，计算机系统/服务器12以通用计算设备的形式表现。计算机系统/服务器12的组件可以包括但不限于：一个或者多个处理器 (处理单元)16，存储器28，连接不同系统组件(包括存储器28和处理器16)的总线18。
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA)总线，微通道体系结构(MAC)总线，增强型ISA总线、视频电子标准协会(VESA)局域总线以及外围组件互连(PCI)总线。
计算机系统/服务器12典型地包括多种计算机系统可读介质。这些介质可以是任何能够被计算机系统/服务器12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(RAM)30和/或高速缓存存储器32。计算机系统/服务器12可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以用于读写不可移动的、非易失性磁介质(图6未显示，通常称为“硬盘驱动器”)。尽管图6中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM,DVD-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本发明各实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括——但不限于——操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本发明所描述的实施例中的功能和/或方法。
计算机系统/服务器12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该计算机系统/服务器12交互的设备通信，和/或与使得该计算机系统/服务器12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制 解调器等等)通信。这种通信可以通过输入/输出(I/O)接口22进行。并且，计算机系统/服务器12还可以通过网络适配器20与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图6所示，网络适配器20通过总线18与计算机系统/服务器12的其它模块通信。应当明白，尽管图中未示出，可以结合计算机系统/服务器12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
处理器16通过运行存储在存储器28中的程序，从而执行各种功能应用以及数据处理，例如实现图1、图2或图3所示实施例中的方法。
本发明同时公开了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时将实现如图1、图2或图3所示实施例中的方法。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包 括——但不限于——无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如”C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法等，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
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单元中，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单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (16)

  1. 一种无人驾驶物流车自主运营方法，其特征在于，包括：
    无人驾驶物流车获取用户的货物运输任务；
    所述无人驾驶物流车根据所述货物运输任务规划行驶路线，按照所述行驶路线自动行驶到目的地点；
    当到达所述目的地点后，所述无人驾驶物流车控制仓门打开。
  2. 根据权利要求1所述的方法，其特征在于，
    该方法进一步包括：所述无人驾驶物流车在自动行驶过程中，当确定距离所述目的地点小于预先设定的阈值时，按照预定方式进行到达提醒。
  3. 根据权利要求2所述的方法，其特征在于，
    所述预定方式包括：鸣笛、闪烁特定的指示灯或屏幕文字展示。
  4. 根据权利要求1所述的方法，其特征在于，
    所述所述无人驾驶物流车根据所述货物运输任务规划行驶路线，按照所述行驶路线自动行驶到目的地点包括：
    当获取到所述货物运输任务后，将当前所在位置作为起点，将所述货物运输任务中的取货地点作为目的地点，规划从所述当前所在位置到所述取货地点的行驶路线，按照所述行驶路线自动行驶到所述取货地点；
    当确定装货完成后，将所述取货地点作为起点，将所述货物运输任务中的卸货地点作为目的地点，规划从所述取货地点到所述卸货地点的行驶路线，按照所述行驶路线自动行驶到所述卸货地点。
  5. 根据权利要求4所述的方法，其特征在于，
    所述按照所述行驶路线自动行驶到所述取货地点之后，进一步包括：当确定装货完成后，控制所述仓门关闭；
    所述按照所述行驶路线自动行驶到所述卸货地点之后，进一步包括：当确定卸货完成后，控制所述仓门关闭。
  6. 根据权利要求5所述的方法，其特征在于，
    所述确定装货完成包括：
    接收到预定APP发送来的装货完成通知；
    或者，监控到表示装货完成的预定手势；
    或者，接收到表示装货完成的语音指令；
    或者，监控到所述无人驾驶物流车上的预定按键被按压；
    所述确定卸货完成包括：
    接收到预定APP发送来的卸货完成通知；
    或者，监控到表示卸货完成的预定手势；
    或者，接收到表示卸货完成的语音指令；
    或者，监控到所述无人驾驶物流车上的预定按键被按压；
  7. 根据权利要求5所述的方法，其特征在于，
    该方法进一步包括：当确定卸货完成后，所述无人驾驶物流车确定出本次货物运输的行驶里程以及货物重量，并根据所述行驶里程以及所述货物重量确定出结算账单，将所述结算账单发送给所述用户。
  8. 一种无人驾驶物流车自主运营装置，其特征在于，包括：获取单元以及控制单元；
    所述获取单元，用于获取用户的货物运输任务；
    所述控制单元，用于根据所述货物运输任务规划行驶路线，按照所述行驶路线控制所述无人驾驶物流车自动行驶到目的地点，当到达所述目的地点后，控制所述无人驾驶物流车的仓门打开。
  9. 根据权利要求8所述的装置，其特征在于，
    所述控制单元进一步用于，在自动行驶过程中，当确定距离所述目的地点小于预先设定的阈值时，按照预定方式进行到达提醒。
  10. 根据权利要求9所述的装置，其特征在于，
    所述预定方式包括：鸣笛、闪烁特定的指示灯或屏幕文字展示。
  11. 根据权利要求8所述的装置，其特征在于，
    所述控制单元将当前所在位置作为起点，将所述货物运输任务中的取货地点作为目的地点，规划从所述当前所在位置到所述取货地点的行驶路线，按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述取货地点，当确定装货完成后，将所述取货地点作为起点，将所述货物运输任务中的卸货地点作为目的地点，规划从所述取货地点到所述卸货地点的行驶路线，按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述卸货地点。
  12. 根据权利要求11所述的装置，其特征在于，
    所述控制单元进一步用于，
    在按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述取货地点之后，若确定装货完成，则控制所述仓门关闭；
    在按照所述行驶路线控制所述无人驾驶物流车自动行驶到所述卸货地点之后，若确定卸货完成，则控制所述仓门关闭。
  13. 根据权利要求12所述的装置，其特征在于，
    所述控制单元接收到预定APP发送来的装货完成通知，或者，监控到表示装货完成的预定手势，或者，接收到表示装货完成的语音指令，或者，监控到所述无人驾驶物流车上的预定按键被按压，则确定装货完成；
    所述控制单元接收到预定APP发送来的卸货完成通知，或者，监控到表示卸货完成的预定手势，或者，接收到表示卸货完成的语音指令，或者，监控到所述无人驾驶物流车上的预定按键被按压，则确定卸货完成。
  14. 根据权利要求12所述的装置，其特征在于，
    所述控制单元进一步用于，当确定卸货完成后，确定出本次货物运输的行驶里程以及货物重量，根据所述行驶里程以及所述货物重量确定出结算账单，将所述结算账单发送给所述用户。
  15. 一种计算机设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1～7中任一项所述的方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现如权利要求1～7中任一项所述的方法。
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