WO2022133636A1 - 无人集卡车调度方法、装置、计算机设备和存储介质 - Google Patents

无人集卡车调度方法、装置、计算机设备和存储介质 Download PDF

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Publication number
WO2022133636A1
WO2022133636A1 PCT/CN2020/137906 CN2020137906W WO2022133636A1 WO 2022133636 A1 WO2022133636 A1 WO 2022133636A1 CN 2020137906 W CN2020137906 W CN 2020137906W WO 2022133636 A1 WO2022133636 A1 WO 2022133636A1
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WO
WIPO (PCT)
Prior art keywords
charging
unmanned truck
machinery equipment
unmanned
alignment
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PCT/CN2020/137906
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English (en)
French (fr)
Inventor
郐祯
刘伟忠
Original Assignee
深圳元戎启行科技有限公司
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Application filed by 深圳元戎启行科技有限公司 filed Critical 深圳元戎启行科技有限公司
Priority to CN202080103123.1A priority Critical patent/CN115867875A/zh
Priority to PCT/CN2020/137906 priority patent/WO2022133636A1/zh
Publication of WO2022133636A1 publication Critical patent/WO2022133636A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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
    • 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

Definitions

  • the present application relates to the technical field of automatic driving, and in particular, to a method, device, computer equipment and storage medium for dispatching unmanned trucks.
  • Container transportation refers to the use of large containers such as containers as carriers to assemble goods into integrated units, so as to use large-scale loading and unloading machinery and large-scale vehicles for loading and unloading, handling operations and completing transportation tasks in the modern circulation field, so as to better It is a new, high-efficiency and high-efficiency transportation method that realizes the "door-to-door" transportation of goods.
  • human drivers drive container trucks to carry out horizontal container transportation tasks between quay cranes and yard.
  • the current container transportation method is less efficient in loading and unloading operations.
  • An unmanned truck dispatching method is applied to dispatching terminals, and the method includes:
  • a method for dispatching unmanned trucks, applied to unmanned trucks, the method includes:
  • the operating driving path sent by the scheduling terminal; the operating driving path is obtained from the candidate driving paths corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path is based on the selected driving path.
  • the loading state of the unmanned truck, the first position information and the second position information of the port machinery equipment are generated and obtained; and
  • An unmanned truck dispatching device the device comprises:
  • the acquisition module is used to acquire the remaining power of the unmanned truck, the state of the container, the first position information and the second position information of the port machinery equipment;
  • a generating module configured to generate a candidate driving path of the unmanned truck according to the state of the carrier, the first position information and the second position information
  • a determining module configured to determine the power consumption corresponding to the candidate driving route
  • a screening module configured to filter out a working driving path from the candidate driving paths whose power consumption is less than the remaining power
  • the sending module is configured to send the operation driving path to the unmanned truck, so as to instruct the unmanned truck to go to the area where the corresponding port machinery equipment is located according to the operation driving path to perform loading and unloading operations.
  • An unmanned truck dispatching device the device comprises:
  • a receiving module configured to receive the operation driving path sent by the dispatching terminal; the operation driving path is obtained by screening from the candidate driving paths corresponding to the candidate driving paths whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path The driving path is generated according to the state of the unmanned truck, the first position information and the second position information of the port machinery equipment; and
  • the control module is used for going to the area where the corresponding port machinery equipment is located according to the operation driving path to carry out loading and unloading operations.
  • a computer device comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:
  • a computer device comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:
  • the operating driving path sent by the scheduling terminal; the operating driving path is obtained from the candidate driving paths corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path is based on the selected driving path.
  • the loading state of the unmanned truck, the first position information and the second position information of the port machinery equipment are generated and obtained; and
  • the operating driving path sent by the scheduling terminal; the operating driving path is obtained from the candidate driving paths corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path is based on the selected driving path.
  • the loading state of the unmanned truck, the first position information and the second position information of the port machinery equipment are generated and obtained; and
  • the above unmanned truck dispatching method, device, computer equipment and storage medium are obtained by acquiring the remaining power of the unmanned truck, the state of the container, the first location information and the second location information of the port machinery equipment. According to the state of the container, the first position information and the second position information, a candidate driving path of the unmanned truck is generated. Determine the power consumption corresponding to the candidate driving path, and filter out the operating driving path from the candidate driving paths whose power consumption is less than the remaining power; and send the operating driving path to the unmanned truck to instruct the unmanned truck to proceed to the corresponding driving path according to the operating driving path.
  • the unmanned trucks can have enough power to reach the area where the corresponding port machinery equipment is located for loading and unloading operations. It can also maximize the use of the power of the unmanned truck, shorten the charging times of the unmanned truck, and improve the loading and unloading efficiency of the unmanned truck.
  • 1 is an application scenario diagram of a method for dispatching unmanned trucks in one embodiment
  • FIG. 2 is a schematic flowchart of a method for dispatching unmanned trucks in one embodiment
  • FIG. 3 is a schematic flowchart of a method for dispatching unmanned trucks in another embodiment
  • Fig. 5 is the flow chart of unmanned collecting truck to go to work site in one embodiment
  • FIG. 6 is a flow chart of an unmanned truck going to a standby location in one embodiment
  • FIG. 7 is a structural block diagram of an unmanned truck dispatching device in one embodiment
  • FIG. 8 is a structural block diagram of an unmanned truck dispatching device in another embodiment
  • Figure 9 is a diagram of the internal structure of a computer device in one embodiment.
  • the unmanned truck scheduling method provided by the present application can be applied to the application environment shown in FIG. 1 .
  • the application environment includes a dispatch terminal 102, an unmanned truck 104, and a port machinery equipment 106, wherein the port machinery equipment may specifically include a tire crane or a quay crane.
  • the dispatching terminal 102, the unmanned truck 104 and the port machinery equipment 106 communicate through the network.
  • the scheduling terminal 102 may specifically include a desktop terminal or a mobile terminal.
  • the mobile terminal may specifically include at least one of a mobile phone, a tablet computer, a notebook computer, and the like.
  • the dispatching terminal 102 acquires the remaining power of the unmanned truck 104 , the state of the container, the first location information, and the second location information of the port machinery equipment 106 .
  • the dispatch terminal 102 generates a candidate driving path of the unmanned truck 104 according to the state of the container, the first position information and the second position information.
  • the scheduling terminal 102 determines the power consumption corresponding to the candidate driving route. Screen out the operating driving path from the candidate driving paths whose power consumption is less than the remaining power; and send the operating driving path to the unmanned truck 104 to instruct the unmanned truck 104 to follow the operating driving path to the area where the port machinery equipment 106 is located for loading and unloading operations.
  • a method for dispatching unmanned trucks is provided.
  • the method is applied to the dispatching terminal 102 in FIG. 1 as an example to illustrate, including the following steps:
  • S202 Obtain the remaining power of the unmanned truck, the state of the container, the first location information, and the second location information of the port machinery equipment.
  • the container loading state is used to indicate whether the current unmanned truck is loaded with a container.
  • the unmanned truck can determine its own remaining power and container status, and send the remaining power and container status to the dispatch terminal.
  • the dispatch terminal can receive the remaining power and the status of the unmanned truck.
  • the dispatching terminal can obtain the first position information of the unmanned collecting truck through the positioning system of the unmanned collecting truck, and the dispatching terminal can obtain the second position information of the port machinery equipment through the positioning system of the port machinery equipment.
  • the dispatching terminal may also obtain the cruising range information and fault information of the unmanned truck.
  • the dispatch terminal can issue the following information to the unmanned truck: ID (Identity document, identification number) of the loading and unloading task, whether there is a subsequent loading and unloading operation, the ID of the unmanned truck, the type of operation, the operation location, and the information of the port machinery equipment. At least one of the type, the ID of the port machinery equipment, the current state of the unmanned truck, the number of containers, the type of the container, and the location where the container is loaded on the unmanned truck.
  • S204 Generate a candidate driving path of the unmanned truck according to the state of the container, the first position information and the second position information.
  • the dispatching terminal can generate a candidate driving path of the unmanned truck according to the state of the container, the first position information and the second position information. It can be understood that the dispatching terminal can determine the second position information according to whether the container is loaded or unloaded, and then generate a corresponding candidate driving path for generating an unmanned truck. It should be noted that, the candidate driving path may be one or multiple.
  • the power consumption refers to the power consumed by the unmanned truck to travel along the candidate driving route.
  • the power consumption corresponding to each candidate driving path may be different, and the scheduling terminal may determine the power consumption corresponding to the candidate driving path according to the distance information and road condition information of the candidate driving path.
  • the scheduling terminal can compare the power consumption corresponding to each candidate driving path with the remaining power of the unmanned truck, and select the working driving path from the candidate driving paths whose power consumption is less than the remaining power.
  • the dispatch terminal can send the operation driving path to the unmanned truck.
  • the unmanned truck can receive the operation driving path sent by the dispatching terminal, and go to the area where the corresponding port machinery equipment is located to carry out loading and unloading operations according to the operation driving path.
  • the loading and unloading operation includes the packing operation and the unloading operation.
  • the remaining power of the unmanned truck, the state of the container, the first location information and the second location information of the port machinery equipment are obtained.
  • a candidate driving path of the unmanned truck is generated. Determine the power consumption corresponding to the candidate driving path, and filter out the operating driving path from the candidate driving paths whose power consumption is less than the remaining power; and send the operating driving path to the unmanned truck to instruct the unmanned truck to proceed to the corresponding driving path according to the operating driving path.
  • the unmanned trucks can have enough power to reach the area where the corresponding port machinery equipment is located for loading and unloading operations. It can also maximize the use of the power of the unmanned truck, shorten the charging times of the unmanned truck, and improve the loading and unloading efficiency of the unmanned truck.
  • step S208 that is, the step of filtering out the working driving paths from the candidate driving paths whose power consumption is less than the remaining power, specifically includes: sorting the candidate driving paths whose power consumption is less than the remaining power according to the power consumption; and The candidate driving path corresponding to the smallest power consumption after sorting is determined as the working driving path.
  • the dispatching terminal can compare the power consumption corresponding to each candidate driving path with the remaining power of the unmanned truck, and determine the candidate driving paths whose power consumption is less than the remaining power after the comparison.
  • the scheduling terminal may sort the candidate driving paths whose power consumption is less than the remaining power according to the power consumption, and determine the candidate driving path corresponding to the smallest power consumption after sorting as the working driving path.
  • the unmanned truck scheduling method further includes: when the power consumption corresponding to each candidate driving path is greater than or equal to the remaining power, acquiring the location information of the charging device closest to the unmanned truck; according to the first The location information and the location information of the charging equipment, generate the charging driving path of the unmanned truck; and send the charging driving path to the unmanned truck to instruct the unmanned truck to follow the charging driving path to the area where the corresponding charging equipment is located. Charge.
  • the dispatching terminal can obtain the location information of the charging device closest to the unmanned truck, and generate the charging driving path of the unmanned truck according to the first location information and the location information of the charging device.
  • the dispatch terminal can send the charging driving route to the unmanned truck.
  • the unmanned truck can receive the charging driving route sent by the dispatching terminal, and go to the area where the corresponding charging equipment is located for charging according to the charging driving route.
  • the unmanned truck when the power consumption corresponding to each candidate driving path is greater than or equal to the remaining power, the unmanned truck is dispatched to the charging device closest to the unmanned truck for charging, so as to ensure that the unmanned truck has sufficient power and avoid the need for The unmanned truck dropped sights during the loading and unloading task due to insufficient power.
  • the unmanned truck scheduling method further includes: receiving first offset information fed back by the port machinery equipment after judging that the unmanned truck alignment is inaccurate in response to the alignment completion information;
  • the shift information is sent to the unmanned truck to instruct the unmanned truck to obtain the alignment position of the port machinery equipment according to the first offset information; the unmanned truck is aligned with the port machinery equipment according to the alignment position.
  • the unmanned truck can generate the alignment completion information after the alignment is completed, and send the alignment completion information to the port machinery equipment.
  • the dispatching terminal can receive the first offset information fed back by the port machinery equipment after judging that the alignment of the unmanned truck is inaccurate in response to the alignment completion information, and send the first offset information to the unmanned truck.
  • the unmanned truck can receive the first offset information, obtain the alignment position of the port machinery equipment according to the first offset information, and perform alignment with the new port machinery equipment according to the alignment position.
  • the unmanned truck by acquiring the first offset information fed back after the unmanned truck is inaccurately aligned, the unmanned truck obtains the alignment position of the port machinery equipment according to the first offset information and performs the alignment again, ensuring that The smooth progress of loading and unloading operations further improved the efficiency of loading and unloading operations.
  • the unmanned truck scheduling method further includes: receiving an unlocking instruction and second offset information sent by the port machinery equipment during the loading and unloading operation; and sending the unlocking instruction and the second offset information to a
  • the unmanned pickup truck is to instruct the unmanned pickup truck to unlock according to the unlocking instruction; the unmanned pickup truck obtains the alignment position of the port machinery equipment according to the second offset information; the unmanned pickup pickup truck performs alignment with the port machinery equipment according to the alignment position. bit.
  • the port machinery equipment can generate the unlocking instruction and the second offset information.
  • the dispatch terminal can receive the unlocking instruction and the second offset information sent by the port machinery equipment during the loading and unloading operation, and send the unlocking instruction and the second offset information to the unmanned truck.
  • the unmanned truck can receive the unlocking instruction and the second offset information sent by the dispatching terminal, and unlock according to the unlocking instruction.
  • the alignment position of the port machinery equipment can be obtained according to the second offset information, and the alignment position with the port machinery equipment can be re-aligned according to the alignment position.
  • the position of the unmanned pickup truck may be offset.
  • the unmanned pickup truck and The port machinery equipment is re-aligned to ensure the smooth progress of loading and unloading operations, and further improve the efficiency of loading and unloading operations.
  • the unmanned truck scheduling method further includes: receiving third offset information fed back by the charging device after judging that the unmanned truck alignment is inaccurate in response to the charging alignment completion information; and The shift information is sent to the unmanned truck to instruct the unmanned truck to obtain the charging position of the charging equipment from the third offset information; the unmanned truck is aligned with the charging equipment according to the charging position.
  • the unmanned truck can generate charging alignment completion information, and send the charging alignment completion information to the charging device.
  • the dispatching terminal may receive third offset information fed back by the charging device after judging that the alignment of the unmanned truck is inaccurate in response to the charging alignment completion information, and send the third offset information to the unmanned truck.
  • the unmanned truck can receive the third offset information, obtain the charging alignment position of the charging device according to the third offset information, and perform alignment with the recharging device according to the charging alignment position.
  • the unmanned truck by obtaining the third offset information fed back after the unmanned truck is inaccurately aligned, the unmanned truck obtains the charging position of the charging device according to the third offset information and re-aligns it to ensure the charging accuracy. It goes on smoothly and improves the efficiency of successful charging.
  • the method for dispatching unmanned trucks further includes: receiving a charging unlocking instruction and fourth offset information sent by a charging device during a charging process; and sending the charging unlocking instruction and fourth offset information to the unmanned pickup truck to instruct the unmanned pickup truck to unlock according to the charging unlocking instruction; the unmanned pickup truck obtains the charging position of the charging equipment according to the fourth offset information; the unmanned pickup truck aligns the charging equipment according to the charging position.
  • the charging device may generate a charging unlocking instruction and fourth offset information.
  • the dispatching terminal can receive the charging unlocking instruction and the fourth offset information sent by the charging equipment during the charging process, and send the charging unlocking instruction and the fourth offset information to the unmanned truck.
  • the unmanned truck can receive the charging unlock instruction and the fourth offset information sent by the dispatch terminal, and unlock according to the charging unlock instruction.
  • the charging alignment position of the charging device can be obtained according to the fourth offset information, and the charging alignment position can be re-aligned with the charging device according to the charging alignment position.
  • the position of the unmanned pickup truck may be offset.
  • the device is re-aligned to ensure the smooth progress of charging, which further improves the efficiency of successful charging.
  • a method for dispatching unmanned trucks is provided, and the method is applied to the unmanned truck 104 in FIG. 1 as an example to illustrate, including the following steps:
  • S302 Receive the operation driving path sent by the scheduling terminal; the operation driving path is obtained from the candidate driving paths corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path is based on the unmanned truck.
  • the state of the carrier, the first position information and the second position information of the port machinery equipment are generated and obtained.
  • the unmanned truck can determine its own remaining power and container status, and send the remaining power and container status to the dispatch terminal.
  • the dispatch terminal can receive the remaining power and the status of the unmanned truck.
  • the dispatching terminal can obtain the first position information of the unmanned collecting truck through the positioning system of the unmanned collecting truck, and the dispatching terminal can obtain the second position information of the port machinery equipment through the positioning system of the port machinery equipment.
  • the dispatch terminal can generate a candidate driving path of the unmanned truck according to the state of the container, the first position information and the second position information. It can be understood that the dispatching terminal can determine the second position information according to whether the container is loaded or unloaded, and then generate a corresponding candidate driving path for generating an unmanned truck.
  • the candidate driving path may be one or multiple.
  • the power consumption corresponding to each candidate driving path may be different, and the scheduling terminal may determine the power consumption corresponding to the candidate driving path according to the distance information and road condition information of the candidate driving path.
  • the dispatching terminal can compare the power consumption corresponding to each candidate driving path with the remaining power of the unmanned truck, and select the operating driving path from the candidate driving paths whose power consumption is less than the remaining power.
  • the dispatch terminal can send the operation driving route to the unmanned truck.
  • the unmanned truck can receive the operation driving path sent by the dispatching terminal, and go to the area where the corresponding port machinery equipment is located to carry out loading and unloading operations according to the operation driving path.
  • the loading and unloading operation includes the packing operation and the unloading operation.
  • the operation driving path sent by the dispatching terminal is received; the operating driving path is obtained from the candidate driving path corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path is obtained;
  • the path is generated according to the container state of the unmanned truck, the first position information and the second position information of the port machinery equipment. Go to the area where the corresponding port machinery equipment is located according to the operation route for loading and unloading operations.
  • the unmanned trucks can have enough power to reach the area where the corresponding port machinery equipment is located for loading and unloading operations. It can also maximize the use of the power of the unmanned truck, shorten the charging times of the unmanned truck, and improve the loading and unloading efficiency of the unmanned truck.
  • step S304 that is, the step of going to the location area of the corresponding port machinery equipment according to the operation driving path for loading and unloading operations, specifically includes: going to the location area of the corresponding port machinery equipment according to the operation driving path; When the location area of the port machinery equipment is located, obtain the alignment position of the port machinery equipment; perform alignment with the port machinery equipment according to the alignment position, and send the alignment completion information to the port machinery equipment after the alignment is completed; and when the port machinery equipment is received When the equipment responds to the locking instruction fed back by the alignment completion information, it locks the unmanned truck according to the locking instruction, and sends the locking completion information to the port machinery equipment after the locking is completed to instruct the port machinery equipment to carry out loading and unloading operations.
  • unmanned trucks can go to the area where the corresponding port machinery equipment is located according to the operation driving path.
  • the unmanned truck can search for the corresponding port machinery equipment, and obtain the alignment position of the port machinery equipment after searching for the corresponding port machinery equipment.
  • the unmanned truck can align with the port machinery equipment according to the alignment position, and send the alignment completion information to the port machinery equipment after the alignment is completed.
  • the port equipment may receive the alignment completion information, and generate a lock instruction in response to the alignment completion information.
  • the unmanned truck can lock the unmanned truck according to the locking instruction, and send the locking completion information to the port machinery equipment after the locking is completed.
  • the port machinery equipment can receive the lock completion information and perform loading and unloading operations based on the lock completion information.
  • the alignment of the unmanned truck and the port machinery equipment is completed by aligning the positions, and after the alignment is completed, the loading and unloading operation is performed, which further improves the loading and unloading operation efficiency.
  • the unmanned truck scheduling method further includes: receiving the port machinery equipment in response to the alignment completion information judging that the alignment of the unmanned trucks is not correct.
  • the unmanned truck can generate the alignment completion information after the alignment is completed, and send the alignment completion information to the port machinery equipment.
  • the port machinery equipment may receive the alignment completion information, and in response to the alignment completion information, the port machinery equipment may generate the first offset information after judging that the alignment of the unmanned truck is inaccurate.
  • the unmanned truck can receive the first offset information fed back by the port machinery equipment after judging that the alignment of the unmanned truck is inaccurate in response to the alignment completion information, and obtain the alignment position of the port machinery according to the first offset information, And align with the re-port machinery equipment according to the alignment position.
  • the first offset information received by the unmanned truck may be directly sent by the port machinery equipment, or the first offset information may be sent by the port machinery equipment to the dispatching terminal, and the dispatching terminal will then forward it. to the unmanned truck.
  • the unmanned truck by acquiring the first offset information fed back after the unmanned truck is inaccurately aligned, the unmanned truck obtains the alignment position of the port machinery equipment according to the first offset information and performs the alignment again, ensuring that The smooth progress of loading and unloading operations further improved the efficiency of loading and unloading operations.
  • the unmanned truck dispatching method further includes: when it is received that the port machinery equipment is in the process of loading and unloading operations When the unlocking instruction and the second offset information are sent in, the unmanned truck is unlocked according to the unlocking instruction; and the step of obtaining the alignment position of the port machinery equipment is returned according to the second offset information to continue the execution.
  • the port machinery equipment can generate the unlocking instruction and the second offset information.
  • the unmanned truck can receive the unlocking instruction and the second offset information sent by the port machinery equipment during the loading and unloading operation, and unlock according to the unlocking instruction.
  • the alignment position of the port machinery equipment can be obtained according to the second offset information, and the alignment position with the port machinery equipment can be re-aligned according to the alignment position.
  • the second offset information received by the unmanned truck may be directly sent by the port machinery equipment, or the second offset information may be sent by the port machinery equipment to the dispatching terminal, and the dispatching terminal will then forward it. to the unmanned truck.
  • the position of the unmanned pickup truck may be offset.
  • the unmanned pickup truck and The port machinery equipment is re-aligned to ensure the smooth progress of loading and unloading operations, and further improve the efficiency of loading and unloading operations.
  • the unmanned truck dispatching method further includes: receiving a charging driving route sent by the dispatching terminal; the charging driving route is generated according to the first location information and the location information of the charging device; the location information of the charging device is When the power consumption is greater than or equal to the remaining power, the dispatching terminal obtains it from the charging device closest to the unmanned truck, and goes to the area where the corresponding charging device is located for charging according to the charging driving route.
  • the dispatching terminal can obtain the location information of the charging equipment closest to the unmanned pickup truck, and generate the charging driving path of the unmanned pickup truck according to the first location information and the location information of the charging equipment.
  • the dispatch terminal can send the charging driving route to the unmanned truck.
  • the unmanned truck can receive the charging driving route sent by the dispatching terminal, and go to the area where the corresponding charging equipment is located for charging according to the charging driving route.
  • the unmanned truck when the power consumption corresponding to each candidate driving path is greater than or equal to the remaining power, the unmanned truck is dispatched to the charging device closest to the unmanned truck for charging, so as to ensure that the unmanned truck has sufficient power and avoid the need for The unmanned truck dropped sights during the loading and unloading task due to insufficient power.
  • the step of going to the area where the corresponding charging equipment is located according to the charging driving path to perform charging specifically includes: following the charging driving path to the area where the corresponding charging equipment is located; when reaching the area where the corresponding charging equipment is located, obtaining the charging The charging position of the device; align with the charging device according to the charging position, and send the charging alignment completion information to the charging device after the alignment is completed; and when receiving the charging lock instruction fed back by the charging device in response to the charging alignment completion information
  • the charging lock completion information is sent to the charging device to instruct the charging device to charge.
  • the unmanned truck can go to the area where the corresponding charging equipment is located according to the charging driving path.
  • the unmanned truck can search for the corresponding charging device, and after searching for the corresponding charging device, obtain the charging location of the charging device.
  • the unmanned truck can align with the charging equipment according to the charging position, and send the charging alignment completion information to the charging equipment after the alignment is completed.
  • the charging device may receive the charging alignment completion information, and generate a charging lock instruction in response to the charging alignment completion information.
  • the unmanned truck can lock the unmanned truck according to the charging lock instruction, and send the charging lock completion information to the charging device after the locking is completed.
  • the charging device can receive the charging lock completion information, and perform loading and unloading operations based on the charging lock completion information.
  • the unmanned truck when the power consumption corresponding to each candidate driving path is greater than or equal to the remaining power, the unmanned truck is dispatched to the charging device closest to the unmanned truck for charging, so as to ensure that the unmanned truck has sufficient power and avoid the need for The unmanned truck dropped sights during the loading and unloading task due to insufficient power.
  • the unmanned truck scheduling method further includes: receiving the charging device in response to the charging alignment completion information and judging that the alignment of the unmanned truck is not correct. the third offset information fed back after being accurate; and returning to the step of acquiring the charging position of the charging device according to the third offset information to continue the execution.
  • the unmanned truck can generate charging alignment completion information, and send the charging alignment completion information to the charging device.
  • the charging device may generate third offset information after judging that the alignment of the unmanned truck is inaccurate in response to the charging alignment completion information.
  • the unmanned truck can receive the third offset information fed back by the charging device after judging that the alignment of the unmanned truck is inaccurate in response to the charging alignment completion information, and obtain the charging alignment position of the charging device according to the third offset information, And align with the recharging device according to the charging alignment position.
  • the third offset information received by the unmanned truck may be directly sent by the charging device, or the third offset information may be sent by the charging device to the dispatching terminal, and the dispatching terminal will then forward it to the unmanned People set trucks to get.
  • the unmanned truck by obtaining the third offset information fed back after the unmanned truck is inaccurately aligned, the unmanned truck obtains the charging position of the charging device according to the third offset information and re-aligns it to ensure the charging accuracy. It goes on smoothly and improves the efficiency of successful charging.
  • the unmanned truck scheduling method further includes: when receiving a message sent by the charging device during the charging process.
  • the charging unlock instruction and the fourth offset information are present, the unmanned truck is unlocked according to the charging unlock instruction; and according to the fourth offset information, the step of obtaining the charging position of the charging device is returned to continue execution.
  • the charging device may generate a charging unlocking instruction and fourth offset information.
  • the unmanned truck can receive the charging unlocking command and the fourth offset information sent by the charging device during the charging process, and unlock according to the charging unlocking command.
  • the charging alignment position of the charging device can be obtained according to the fourth offset information, and the charging alignment position can be re-aligned with the charging device according to the charging alignment position.
  • the fourth offset information received by the unmanned truck may be directly sent by the charging device, or the fourth offset information may be sent by the charging device to the dispatching terminal, and the dispatching terminal will then forward it to the unmanned People set trucks to get.
  • the position of the unmanned pickup truck may be offset.
  • the device is re-aligned to ensure the smooth progress of charging, which further improves the efficiency of successful charging.
  • the port machinery equipment is a tire crane.
  • the dispatch terminal can obtain the bay position information of the container, and send the bay position information of the container to the unmanned truck.
  • the unmanned truck can obtain the alignment position of the tire crane, and adjust and align according to the alignment position until the alignment is completed.
  • the unmanned truck can generate the alignment completion information and send the alignment completion information to the tire crane.
  • the tire crane can judge whether the unmanned truck is accurately aligned according to the received alignment completion information.
  • the tire crane can generate a locking instruction, send the locking instruction to the dispatching terminal, and forward the locking instruction to the unmanned truck through the dispatching terminal.
  • the tire crane can generate the first offset information, and send the first offset information to the dispatching terminal, and the dispatching terminal can forward the first offset information to the unmanned truck to indicate the unmanned assembly.
  • the truck is re-aligned until the alignment is accurate.
  • the unmanned truck receives the locking completion information sent by the dispatching terminal, the unmanned truck can send the locking completion information to the tire crane to instruct the tire crane to carry out loading and unloading operations.
  • the tire crane can generate the unlocking instruction and the second offset information, and send the unlocking instruction and the second offset information to the dispatching terminal.
  • the dispatching terminal can forward the unlocking instruction and the second offset information to the unmanned truck to instruct the unmanned truck to re-align until the loading and unloading operation is completed.
  • the tire crane can generate the loading and unloading operation completion information, and send the loading and unloading operation completion information to the dispatching terminal to instruct the dispatching terminal to generate a new working path and unlocking instructions, and send them to the unmanned truck.
  • the unmanned truck can continue to drive according to the new driving path after being unlocked.
  • the unmanned truck after the unmanned truck is powered on, it can be connected to the dispatch terminal and enter a standby state. When the unmanned truck is on standby, it can receive the dispatch from the dispatch terminal, and go to work or go to standby according to the dispatch.
  • the unmanned truck can receive the dispatch from the dispatch terminal and go to the operation point.
  • the unmanned truck can search for the equipment to be interacted with, that is, port machinery equipment.
  • the unmanned truck can report abnormal information to the dispatch terminal.
  • the unmanned truck can be repeatedly aligned with the port machinery equipment, and the loading and unloading operation is performed after the alignment is completed.
  • the unmanned truck can receive the unlock command to unlock and continue to drive to standby Stand by.
  • the unmanned truck can be put on standby again.
  • the unmanned truck can receive the dispatch from the dispatch terminal and go to the standby point to stand by.
  • the unmanned truck can receive the dispatch from the dispatch terminal, go to the operation point, power off and shut down, or go to the charging point for charging.
  • the scheduling task is canceled, the unmanned truck can be put on standby again.
  • FIGS. 2 and 3 are shown in sequence, these steps are not necessarily performed in sequence. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the above-mentioned FIG. 2 and FIG. 3 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. These sub-steps Alternatively, the order of execution of the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a stage.
  • an unmanned truck dispatching device 700 including: an acquisition module 701, a generation module 702, a determination module 703, a screening module 704, and a transmission module 705, wherein:
  • the obtaining module 701 is used to obtain the remaining power of the unmanned truck, the state of the container, the first position information and the second position information of the port machinery equipment.
  • the generating module 702 is configured to generate a candidate driving path of the unmanned truck according to the state of the container, the first position information and the second position information.
  • the determination module 703 is configured to determine the power consumption corresponding to the candidate driving route.
  • a screening module 704 configured to filter out the operating driving path from the candidate driving paths whose power consumption is less than the remaining power
  • the sending module 705 is used for sending the operation driving path to the unmanned truck, so as to instruct the unmanned truck to go to the location area of the corresponding port machinery equipment according to the operation driving path to perform loading and unloading operations.
  • the screening module 704 is further configured to sort the candidate driving paths whose power consumption is less than the remaining power according to the power consumption; and determine the candidate driving path corresponding to the sorted minimum power consumption as the working driving path.
  • the sending module 705 is further configured to obtain the location information of the charging device closest to the unmanned truck when the power consumption corresponding to each candidate driving route is greater than or equal to the remaining power; according to the first location information and the charging The location information of the device is used to generate the charging driving path of the unmanned truck; and the charging driving path is sent to the unmanned truck to instruct the unmanned truck to follow the charging driving path to the area where the corresponding charging device is located for charging.
  • the sending module 705 is further configured to receive the first offset information fed back by the port machinery equipment after judging that the alignment of the unmanned truck is inaccurate in response to the alignment completion information; and send the first offset information to The unmanned truck is instructed to obtain the alignment position of the port machinery equipment according to the first offset information; the unmanned truck is aligned with the port machinery equipment according to the alignment position.
  • the sending module 705 is further configured to receive the unlocking instruction and the second offset information sent by the port machinery equipment during the loading and unloading operation; and send the unlocking instruction and the second offset information to the unmanned truck , to instruct the unmanned truck to unlock according to the unlocking instruction; the unmanned truck obtains the alignment position of the port machinery equipment according to the second offset information; the unmanned truck aligns the port machinery equipment according to the alignment position.
  • the sending module 705 is further configured to receive third offset information fed back by the charging device after judging that the alignment of the unmanned truck is inaccurate in response to the charging alignment completion information; and send the third offset information to The unmanned truck is used to indicate the third offset information of the unmanned truck to obtain the charging position of the charging equipment; the unmanned truck is aligned with the charging device according to the charging position.
  • the sending module 705 is further configured to receive the charging unlock instruction and the fourth offset information sent by the charging device during the charging process; and send the charging unlock instruction and the fourth offset information to the unmanned set truck to instruct the unmanned truck to unlock according to the charging unlocking instruction; the unmanned truck obtains the charging position of the charging device according to the fourth offset information; the unmanned truck is aligned with the charging device according to the charging position.
  • the above-mentioned unmanned truck dispatching device obtains the remaining power of the unmanned truck, the state of the container, the first position information and the second position information of the port machinery equipment. According to the state of the container, the first position information and the second position information, a candidate driving path of the unmanned truck is generated. Determine the power consumption corresponding to the candidate driving path, and filter out the operating driving path from the candidate driving paths whose power consumption is less than the remaining power; and send the operating driving path to the unmanned truck to instruct the unmanned truck to proceed to the corresponding driving path according to the operating driving path.
  • the unmanned truck can have enough power to reach the location of the corresponding port machinery equipment smoothly for loading and unloading operations. It can also maximize the use of the power of the unmanned truck, shorten the charging times of the unmanned truck, and improve the loading and unloading efficiency of the unmanned truck.
  • the unmanned truck dispatching device 800 further includes: a receiving module 801 and a control module 802, wherein:
  • the receiving module 801 is used to receive the operation driving path sent by the dispatching terminal; the operation driving path is obtained by screening the candidate driving path corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; The loading state of the truck, the first position information and the second position information of the port machinery equipment are generated and obtained; and
  • the control module 802 is configured to go to the location area of the corresponding port machinery equipment according to the operation driving path to perform loading and unloading operations.
  • control module 802 is further configured to go to the location area of the corresponding port machinery equipment according to the operating driving path; when reaching the location area of the corresponding port machinery equipment, obtain the alignment position of the port machinery equipment; The port machinery equipment performs alignment, and sends the alignment completion information to the port machinery equipment after the alignment is completed; and when receiving the locking instruction fed back by the port machinery equipment in response to the alignment completion information, according to the locking instruction
  • the truck is locked, and after the locking is completed, a locking completion message is sent to HAECO to instruct HAECO to carry out loading and unloading operations.
  • control module 802 is further configured to receive the first offset information fed back by the port machinery equipment after judging that the alignment of the unmanned truck is inaccurate in response to the alignment completion information; and according to the first offset information, return Continue with the steps to obtain the alignment position of the HAECO equipment.
  • control module 802 is further configured to unlock the unmanned truck according to the unlocking instruction when receiving the unlocking instruction and the second offset information sent by the port machinery equipment during the loading and unloading operation; and The second offset information returns to the step of obtaining the alignment position of the port machinery equipment to continue the execution.
  • control module 802 is further configured to receive the charging driving route sent by the scheduling terminal; the charging driving route is generated according to the first location information and the location information of the charging device; the location information of the charging device is when the power consumption is greater than When it is equal to or equal to the remaining power, the dispatching terminal obtains it from the charging device closest to the unmanned truck, and goes to the area where the corresponding charging device is located for charging according to the charging driving route.
  • control module 802 is further configured to go to the location area of the corresponding charging device according to the charging driving path; when reaching the location area of the corresponding charging device, obtain the charging location of the charging device; and align the charging device according to the charging location , and send the charging alignment completion information to the charging equipment after the alignment is completed; and when receiving the charging lock instruction fed back by the charging equipment in response to the charging alignment completion information, lock the unmanned truck according to the charging lock instruction, And after the locking is completed, a charging lock completion message is sent to the charging device to instruct the charging device to charge.
  • control module 802 is further configured to receive third offset information fed back by the charging device after judging that the alignment of the unmanned truck is inaccurate in response to the charging alignment completion information; and according to the third offset information, return Steps to obtain the charging location of the charging device to continue.
  • control module 802 is further configured to unlock the unmanned truck according to the charging unlocking instruction when receiving the charging unlocking instruction and the fourth offset information sent by the charging device during the charging process; and For the fourth offset information, return to the step of acquiring the charging position of the charging device to continue the execution.
  • the above-mentioned unmanned truck dispatching device receives the operation driving path sent by the dispatching terminal; the operation driving path is obtained from the candidate driving paths corresponding to the candidate driving path whose power consumption is less than the remaining power of the unmanned truck; the candidate driving path is obtained; It is generated according to the loading state of the unmanned truck, the first position information and the second position information of the port machinery equipment. Go to the area where the corresponding port machinery equipment is located according to the operation route for loading and unloading operations. In this way, by screening out the operating driving paths from the candidate driving paths whose power consumption is less than the remaining power corresponding to each candidate driving path, the unmanned trucks can have enough power to reach the area where the corresponding port machinery equipment is located for loading and unloading operations. It can also maximize the use of the power of the unmanned truck, shorten the charging times of the unmanned truck, and improve the loading and unloading efficiency of the unmanned truck.
  • Each module in the above-mentioned unmanned truck dispatching device can be implemented in whole or in part by software, hardware and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a computer device is provided, and the computer device may be the scheduling terminal 102 in FIG. 1 , and its internal structure diagram may be as shown in FIG. 9 .
  • the computer equipment includes a processor, memory, a network interface, a display screen, and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium, an internal memory.
  • the nonvolatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.
  • FIG. 9 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
  • a computer device including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to execute the steps of the above-mentioned method for dispatching unmanned trucks.
  • the steps of the method for dispatching unmanned trucks here may be the steps in the methods for dispatching unmanned trucks in the above embodiments.
  • a computer-readable storage medium storing a computer program, and when the computer program is executed by the processor, the processor causes the processor to execute the steps of the above-mentioned method for dispatching unmanned trucks.
  • the steps of the method for dispatching unmanned trucks here may be the steps in the methods for dispatching unmanned trucks in the above embodiments.
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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Abstract

一种无人集卡车调度方法，包括：获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息。根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。确定候选行车路径对应的消耗电量。从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径；及将作业行车路径发送至无人集卡车，以指示无人集卡车按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。

Description

无人集卡车调度方法、装置、计算机设备和存储介质 技术领域
本申请涉及自动驾驶技术领域，特别是涉及一种无人集卡车调度方法、装置、计算机设备和存储介质。
背景技术
随着科学技术的发展，集装箱运输成为了常见的运输方式。集装箱运输，是指以集装箱这种大型容器为载体，将货物集合组装成集装单元，以便在现代流通领域内运用大型装卸机械和大型载运车辆进行装卸、搬运作业和完成运输任务，从而更好地实现货物“门到门”运输的一种新型、高效率和高效益的运输方式。目前，针对港口码头的集装箱运输，主要是人类司机驾驶集装箱卡车，在岸桥和堆场之间进行集装箱水平运输任务。然而，目前的集装箱运输方式，装卸作业效率较低。
发明内容
基于此，有必要针对上述技术问题，提供一种能够提升装卸作业效率的无人集卡车调度方法、装置、计算机设备和存储介质。
一种无人集卡车调度方法，应用于调度终端，所述方法包括：
获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息；
根据所述载箱状态、所述第一位置信息和所述第二位置信息，生成所述无人集卡车的候选行车路径；
确定所述候选行车路径对应的消耗电量；
从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径；及
将所述作业行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种无人集卡车调度方法，应用于无人集卡车，所述方法包括：
接收调度终端所发送的作业行车路径；所述作业行车路径是从候选行车路径对应的消耗电量小于所述无人集卡车的剩余电量的候选行车路径中筛选得到；所述候选行车路径是根据所述无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种无人集卡车调度装置，所述装置包括：
获取模块，用于获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息；
生成模块，用于根据所述载箱状态、所述第一位置信息和所述第二位置信息，生成所述无人集卡车的候选行车路径；
确定模块，用于确定所述候选行车路径对应的消耗电量；
筛选模块，用于从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径；及
发送模块，用于将所述作业行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种无人集卡车调度装置，所述装置包括：
接收模块，用于接收调度终端所发送的作业行车路径；所述作业行车路径是从候选行车路径对应的消耗电量小于所述无人集卡车的剩余电量的候选行车路径中筛选得到；所述候选行车路径是根据所述无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
控制模块，用于按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息；
根据所述载箱状态、所述第一位置信息和所述第二位置信息，生成所述无人集卡车的候选行车路径；
确定所述候选行车路径对应的消耗电量；
从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径；及
将所述作业行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
接收调度终端所发送的作业行车路径；所述作业行车路径是从候选行车路径对应的消耗电量小于所述无人集卡车的剩余电量的候选行车路径中筛选得到；所述候选行车路径是根据所述无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息；
根据所述载箱状态、所述第一位置信息和所述第二位置信息，生成所述无人集卡车的候选行车路径；
确定所述候选行车路径对应的消耗电量；
从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径；及
将所述作业行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现以下步骤：
接收调度终端所发送的作业行车路径；所述作业行车路径是从候选行车路径对应的消耗电量小于所述无人集卡车的剩余电量的候选行车路径中筛选得到；所述候选行车路径是根据所述无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
上述无人集卡车调度方法、装置、计算机设备和存储介质，通过获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息。根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。确定候选行车路径对应的消耗电量，从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径；及将作业行车路径发送至无人集卡车，以指示无人集卡车按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。这样，通过从各候选行车路径对应的消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径，使得无人集卡车可有足够电量顺利达到对应港机设备所在位置区域以进行装卸作业，同时，也可使得无人集卡车电量的使用最大化，缩短了的无人集卡车的充电次数，提升了无人集卡车的装卸作业效率。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，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。
图1为一个实施例中无人集卡车调度方法的应用场景图；
图2为一个实施例中无人集卡车调度方法的流程示意图；
图3为另一个实施例中无人集卡车调度方法的流程示意图；
图4为一个实施例中装卸作业流程图；
图5为一个实施例中无人集卡车前往作业地点的流程图；
图6为一个实施例中无人集卡车前往待机地点的流程图；
图7为一个实施例中无人集卡车调度装置的结构框图；
图8为另一个实施例中无人集卡车调度装置的结构框图；
图9为一个实施例中计算机设备的内部结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的无人集卡车调度方法，可以应用于如图1所示的应用环境中。该应用环境包括调度终端102、无人集卡车104和港机设备106，其中，港机设备具体可以包括轮胎吊或岸桥。调度终端102、无人集卡车104和港机设备106之间通过网络进行通信。其中，调度终端102具体可以包括台式终端或移动终端。移动终端具体可以包括手机、平板电脑和笔记本电脑等中的至少一种。本领域技术人员可以理解，图1中示出的应用环境，仅仅是与本申请方案相关的部分场景，并不构成对本申请方案应用环境的限定。
调度终端102获取无人集卡车104的剩余电量、载箱状态、第一位置信息和港机设备106的第二位置信息。调度终端102根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车104的候选行车路径。调度终端102确定候选行车路径对应的消耗电量。从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径；及将作业行车路径发送至无 人集卡车104，以指示无人集卡车104按照作业行车路径前往对应港机设备106所在位置区域以进行装卸作业。
在一个实施例中，如图2所示，提供了一种无人集卡车调度方法，以该方法应用于图1中的调度终端102为例进行说明，包括以下步骤：
S202，获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息。
其中，载箱状态用于表示当前无人集卡车是否装载有集装箱。
具体地，无人集卡车可确定自身的剩余电量和载箱状态，并将剩余电量和载箱状态发送给调度终端。调度终端可接收无人集卡车的剩余电量和载箱状态。调度终端可通过无人集卡车的定位系统，获取无人集卡车的第一位置信息，且调度终端可通过港机设备的定位系统，获取港机设备的第二位置信息。
在一个实施例中，调度终端还可以获取无人集卡车的续航里程信息和故障信息。调度终端可以向无人集卡车下发以下信息：装卸作业任务的ID(Identity document，身份标识号码)、后续是否有装卸作业、无人集卡车的ID、作业类型、作业地点、港机设备的类型、港机设备的ID、无人集卡车当前的载箱状态、载箱数量、集装箱类型和集装箱装载在无人集卡车上的位置等中的至少一种。
S204，根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。
具体地，调度终端可根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。可以理解，调度终端可根据载箱状态是已载箱还是未载箱，确定第二位置信息，进而生成对应的生成无人集卡车的候选行车路径。需要说明的是，候选行车路径可以为一条，也可以为多条。
S206，确定候选行车路径对应的消耗电量。
其中，消耗电量是指无人集卡车按照候选行车路径行驶所需要消耗的电量。
具体地，每一条候选行车路径对应的消耗电量可不相同，调度终端可根据候选行车路径的路程信息和路况信息，确定候选行车路径对应的消耗电量。
S208，从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径。
具体地，调度终端可将各候选行车路径对应的消耗电量，与无人集卡车的剩余电量进行比对，并从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径。
S210，将作业行车路径发送至无人集卡车，以指示无人集卡车按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
具体地，调度终端可将作业行车路径发送至无人集卡车。无人集卡车可接收调度终端所发送的作业行车路径，并按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。其中，装卸作业包括装箱作业和卸箱作业。
上述无人集卡车调度方法中，通过获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息。根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。确定候选行车路径对应的消耗电量，从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径；及将作业行车路径发送至无人集卡车，以指示无人集卡车按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。这样，通过 从各候选行车路径对应的消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径，使得无人集卡车可有足够电量顺利达到对应港机设备所在位置区域以进行装卸作业，同时，也可使得无人集卡车电量的使用最大化，缩短了的无人集卡车的充电次数，提升了无人集卡车的装卸作业效率。
在一个实施例中，步骤S208，也就是从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径的步骤，具体包括：按照消耗电量对消耗电量小于剩余电量的候选行车路径进行排序；及将排序后最小的消耗电量对应的候选行车路径确定为作业行车路径。
具体地，调度终端可将各候选行车路径对应的消耗电量，与无人集卡车的剩余电量进行比对，并在对比后确定消耗电量小于剩余电量的候选行车路径。调度终端可按照消耗电量，对消耗电量小于剩余电量的候选行车路径进行排序，并将排序后最小的消耗电量对应的候选行车路径确定为作业行车路径。
上述实施例中，通过将排序后最小的消耗电量对应的候选行车路径确定为作业行车路径，有利于将较低剩余电量的无人集卡车调度执行路程较短的作业任务，使得无人集卡车的电量能得到最大化利用。
在一个实施例中，无人集卡车调度方法具体还包括：当各候选行车路径对应的消耗电量均大于或等于剩余电量时，获取距离无人集卡车最近的充电设备的位置信息；根据第一位置信息和充电设备的位置信息，生成无人集卡车的充电行车路径；及将充电行车路径发送至无人集卡车，以指示无人集卡车按照充电行车路径前往对应充电设备所在位置区域以进行充电。
具体地，当各候选行车路径对应的消耗电量均大于或等于剩余电量时，表示无人集卡车的剩余电量不足以执行任何装卸任务，需要及时给无人集卡车进行充电。此时，调度终端可获取距离无人集卡车最近的充电设备的位置信息，并根据第一位置信息和充电设备的位置信息，生成无人集卡车的充电行车路径。调度终端可将充电行车路径发送至无人集卡车。无人集卡车可接收调度终端发送的充电行车路径，并按照充电行车路径前往对应充电设备所在位置区域以进行充电。
上述实施例中，当各候选行车路径对应的消耗电量均大于或等于剩余电量时，将无人集卡车调度至距离无人集卡车最近的充电设备进行充电，保证无人集卡车电量充足，避免无人集卡车由于电量不足导致在进行装卸任务过程中抛瞄。
在一个实施例中，无人集卡车调度方法具体还包括：接收港机设备响应于对位完成信息判断无人集卡车对位不准确之后所反馈的第一偏移信息；及将第一偏移信息发送至无人集卡车，以指示无人集卡车根据第一偏移信息获取港机设备的对位位置；无人集卡车根据对位位置与港机设备进行对位。
具体地，无人集卡车可在对位完成之后，生成对位完成信息，并将对位完成信息发送至港机设备。调度终端可接收港机设备响应于对位完成信息判断无人集卡车对位不准确之后所反馈的第一偏移信息，并将第一偏移信息发送至无人集卡车。无人集卡车可接收第一偏移信息，并根据第一偏移信息获取港机设备的对位位置，以及根据对位位置与重新港机设备进行对位。
上述实施例中，通过获取无人集卡车对位不准确之后所反馈的第一偏移信息，无人集卡车根据第一偏移信息获取港机设备的对位位置并重新进行对位，保证装卸作业的顺利 进行，进一步提升了装卸作业效率。
在一个实施例中，无人集卡车调度方法具体还包括：接收港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息；及将解锁指令和第二偏移信息发送至无人集卡车，以指示无人集卡车根据解锁指令进行解锁；无人集卡车根据第二偏移信息获取港机设备的对位位置；无人集卡车根据对位位置与港机设备进行对位。
具体地，当在进行装卸作业过程中，无人集卡车的位置发生偏移时，港机设备可生成解锁指令和第二偏移信息。调度终端可接收港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息，并将解锁指令和第二偏移信息发送至无人集卡车。无人集卡车可接收调度终端发送的解锁指令和第二偏移信息，并根据解锁指令进行解锁。无人集卡车解锁后，可根据第二偏移信息获取港机设备的对位位置，并根据对位位置重新与港机设备进行对位。
上述实施例中，在进行装卸作业过程中，无人集卡车的位置可能会发生偏移，通过获取在进行装卸作业过程中所发送的解锁指令和第二偏移信息，将无人集卡车与港机设备重新进行对位，保证装卸作业的顺利进行，进一步提升了装卸作业效率。
在一个实施例中，无人集卡车调度方法具体还包括：接收充电设备响应于充电对位完成信息判断无人集卡车对位不准确之后所反馈的第三偏移信息；及将第三偏移信息发送至无人集卡车，以指示无人集卡车第三偏移信息获取充电设备的充电位置；无人集卡车根据充电位置与充电设备进行对位。
具体地，无人集卡车可在对位完成之后，生成充电对位完成信息，并将充电对位完成信息发送至充电设备。调度终端可接收充电设备响应于充电对位完成信息判断无人集卡车对位不准确之后所反馈的第三偏移信息，并将第三偏移信息发送至无人集卡车。无人集卡车可接收第三偏移信息，并根据第三偏移信息获取充电设备的充电对位位置，以及根据充电对位位置与重新充电设备进行对位。
上述实施例中，通过获取无人集卡车对位不准确之后所反馈的第三偏移信息，无人集卡车根据第三偏移信息获取充电设备的充电位置并重新进行对位，保证充电的顺利进行，提升了充电成功效率。
在一个实施例中，无人集卡车调度方法具体还包括：接收到充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息；及将充电解锁指令和第四偏移信息发送至无人集卡车，以指示无人集卡车根据充电解锁指令进行解锁；无人集卡车根据第四偏移信息获取充电设备的充电位置；无人集卡车根据充电位置与充电设备进行对位。
具体地，当在进行充电过程中，无人集卡车的位置发生偏移时，充电设备可生成充电解锁指令和第四偏移信息。调度终端可接收充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息，并将充电解锁指令和第四偏移信息发送至无人集卡车。无人集卡车可接收调度终端发送的充电解锁指令和第四偏移信息，并根据充电解锁指令进行解锁。无人集卡车解锁后，可根据第四偏移信息获取充电设备的充电对位位置，并根据充电对位位置重新与充电设备进行对位。
上述实施例中，在进行充电过程中，无人集卡车的位置可能会发生偏移，通过获取在进行充电过程中所发送的充电解锁指令和第四偏移信息，将无人集卡车与充电设备重新进行对位，保证充电的顺利进行，进一步提升了充电成功效率。
在一个实施例中，如图3所示，提供了一种无人集卡车调度方法，以该方法应用于图1中的无人集卡车104为例进行说明，包括以下步骤：
S302，接收调度终端所发送的作业行车路径；作业行车路径是从候选行车路径对应的消耗电量小于无人集卡车的剩余电量的候选行车路径中筛选得到；候选行车路径是根据无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到。
具体地，无人集卡车可确定自身的剩余电量和载箱状态，并将剩余电量和载箱状态发送给调度终端。调度终端可接收无人集卡车的剩余电量和载箱状态。调度终端可通过无人集卡车的定位系统，获取无人集卡车的第一位置信息，且调度终端可通过港机设备的定位系统，获取港机设备的第二位置信息。调度终端可根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。可以理解，调度终端可根据载箱状态是已载箱还是未载箱，确定第二位置信息，进而生成对应的生成无人集卡车的候选行车路径。需要说明的是，候选行车路径可以为一条，也可以为多条。每一条候选行车路径对应的消耗电量可不相同，调度终端可根据候选行车路径的路程信息和路况信息，确定候选行车路径对应的消耗电量。调度终端可将各候选行车路径对应的消耗电量，与无人集卡车的剩余电量进行比对，并从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径。
S304，按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
调度终端可将作业行车路径发送至无人集卡车。无人集卡车可接收调度终端所发送的作业行车路径，并按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。其中，装卸作业包括装箱作业和卸箱作业。
上述无人集卡车调度方法中，通过接收调度终端所发送的作业行车路径；作业行车路径是从候选行车路径对应的消耗电量小于无人集卡车的剩余电量的候选行车路径中筛选得到；候选行车路径是根据无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到。按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。这样，通过从各候选行车路径对应的消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径，使得无人集卡车可有足够电量顺利达到对应港机设备所在位置区域以进行装卸作业，同时，也可使得无人集卡车电量的使用最大化，缩短了的无人集卡车的充电次数，提升了无人集卡车的装卸作业效率。
在一个实施例中，步骤S304，也就是按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业的步骤，具体包括：按照作业行车路径前往对应港机设备所在位置区域；当到达对应港机设备所在位置区域时，获取港机设备的对位位置；根据对位位置与港机设备进行对位，并在对位完成后向港机设备发送对位完成信息；及当接收到港机设备响应于对位完成信息所反馈的锁定指令时，根据锁定指令对无人集卡车进行锁定，并在锁定完成后向港机设备发送锁定完成信息，以指示港机设备进行装卸作业。
具体地，无人集卡车可按照作业行车路径前往对应港机设备所在位置区域。当到达对应港机设备所在位置区域时，无人集卡车可搜索对应的港机设备，并在搜索到对应的港机设备之后，获取港机设备的对位位置。无人集卡车可根据对位位置与港机设备进行对位，并在对位完成后向港机设备发送对位完成信息。港机设备可接收对位完成信息，并响应于对位完成信息生成锁定指令。当接收到港机设备响应于对位完成信息所反馈的锁定指令时，无人集卡车可根据锁定指令对无人集卡车进行锁定，并在锁定完成后向港机设备发送 锁定完成信息。港机设备可接收锁定完成信息，并基于锁定完成信息进行装卸作业。
上述实施例中，通过对位位置完成无人集卡车与港机设备进行对位，在对位完成之后，再进行装卸作业，进一步提升了装卸作业效率。
在一个实施例中，在对位完成后向港机设备发送对位完成信息之后，无人集卡车调度方法具体还包括：接收港机设备响应于对位完成信息判断无人集卡车对位不准确之后所反馈的第一偏移信息；及根据第一偏移信息，返回获取港机设备的对位位置的步骤以继续执行。
具体地，无人集卡车可在对位完成之后，生成对位完成信息，并将对位完成信息发送至港机设备。港机设备可接收对位完成信息，并响应于对位完成信息，港机设备在判断无人集卡车对位不准确之后，可生成第一偏移信息。无人集卡车可接收港机设备响应于对位完成信息判断无人集卡车对位不准确之后所反馈的第一偏移信息，并根据第一偏移信息获取港机设备的对位位置，以及根据对位位置与重新港机设备进行对位。
在一个实施例中，无人集卡车接收到的第一偏移信息，具体可以是港机设备直接发送的，也可以是港机设备将第一偏移信息发送至调度终端，调度终端再转发至无人集卡车得到的。
上述实施例中，通过获取无人集卡车对位不准确之后所反馈的第一偏移信息，无人集卡车根据第一偏移信息获取港机设备的对位位置并重新进行对位，保证装卸作业的顺利进行，进一步提升了装卸作业效率。
在一个实施例中，在锁定完成后向港机设备发送锁定完成信息，以指示港机设备进行装卸作业之后，无人集卡车调度方法具体还包括：当接收到港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息时，根据解锁指令对无人集卡车进行解锁；及根据第二偏移信息返回获取港机设备的对位位置的步骤以继续执行。
具体地，当在进行装卸作业过程中，无人集卡车的位置发生偏移时，港机设备可生成解锁指令和第二偏移信息。无人集卡车可接收港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息，并根据解锁指令进行解锁。无人集卡车解锁后，可根据第二偏移信息获取港机设备的对位位置，并根据对位位置重新与港机设备进行对位。
在一个实施例中，无人集卡车接收到的第二偏移信息，具体可以是港机设备直接发送的，也可以是港机设备将第二偏移信息发送至调度终端，调度终端再转发至无人集卡车得到的。
上述实施例中，在进行装卸作业过程中，无人集卡车的位置可能会发生偏移，通过获取在进行装卸作业过程中所发送的解锁指令和第二偏移信息，将无人集卡车与港机设备重新进行对位，保证装卸作业的顺利进行，进一步提升了装卸作业效率。
在一个实施例中，无人集卡车调度方法具体还包括：接收调度终端所发送的充电行车路径；充电行车路径是根据第一位置信息和充电设备的位置信息生成得到；充电设备的位置信息是当消耗电量大于或等于剩余电量时，调度终端从距离无人集卡车最近的充电设备获取得到；按照充电行车路径前往对应充电设备所在位置区域以进行充电。
具体地，当各候选行车路径对应的消耗电量均大于或等于剩余电量时，表示无人集卡车的剩余电量不足以执行任何装卸任务，需要及时给无人集卡车进行充电。此时，调度终端可获取距离无人集卡车最近的充电设备的位置信息，并根据第一位置信息和充电设备 的位置信息，生成无人集卡车的充电行车路径。调度终端可将充电行车路径发送至无人集卡车。无人集卡车可接收调度终端发送的充电行车路径，并按照充电行车路径前往对应充电设备所在位置区域以进行充电。
上述实施例中，当各候选行车路径对应的消耗电量均大于或等于剩余电量时，将无人集卡车调度至距离无人集卡车最近的充电设备进行充电，保证无人集卡车电量充足，避免无人集卡车由于电量不足导致在进行装卸任务过程中抛瞄。
在一个实施例中，按照充电行车路径前往对应充电设备所在位置区域以进行充电的步骤，具体包括：按照充电行车路径前往对应充电设备所在位置区域；当到达对应充电设备所在位置区域时，获取充电设备的充电位置；根据充电位置与充电设备进行对位，并在对位完成后向充电设备发送充电对位完成信息；及当接收到充电设备响应于充电对位完成信息所反馈的充电锁定指令时，根据充电锁定指令对无人集卡车进行锁定，并在锁定完成后向充电设备发送充电锁定完成信息，以指示充电设备进行充电。
具体地，无人集卡车可按照充电行车路径前往对应充电设备所在位置区域。当到达对应充电设备所在位置区域时，无人集卡车可搜索对应的充电设备，并在搜索到对应的充电设备之后，获取充电设备的充电位置。无人集卡车可根据充电位置与充电设备进行对位，并在对位完成后向充电设备发送充电对位完成信息。充电设备可接收充电对位完成信息，并响应于充电对位完成信息生成充电锁定指令。当接收到充电设备响应于充电对位完成信息所反馈的充电锁定指令时，无人集卡车可根据充电锁定指令对无人集卡车进行锁定，并在锁定完成后向充电设备发送充电锁定完成信息。充电设备可接收充电锁定完成信息，并基于充电锁定完成信息进行装卸作业。
上述实施例中，当各候选行车路径对应的消耗电量均大于或等于剩余电量时，将无人集卡车调度至距离无人集卡车最近的充电设备进行充电，保证无人集卡车电量充足，避免无人集卡车由于电量不足导致在进行装卸任务过程中抛瞄。
在一个实施例中，在对位完成后向充电设备发送充电对位完成信息之后，无人集卡车调度方法具体还包括：接收充电设备响应于充电对位完成信息判断无人集卡车对位不准确之后所反馈的第三偏移信息；及根据第三偏移信息，返回获取充电设备的充电位置的步骤以继续执行。
具体地，无人集卡车可在对位完成之后，生成充电对位完成信息，并将充电对位完成信息发送至充电设备。充电设备可响应于充电对位完成信息，在判断无人集卡车对位不准确之后，生成第三偏移信息。无人集卡车可接收充电设备响应于充电对位完成信息判断无人集卡车对位不准确之后所反馈的第三偏移信息，并根据第三偏移信息获取充电设备的充电对位位置，以及根据充电对位位置与重新充电设备进行对位。
在一个实施例中，无人集卡车接收到的第三偏移信息，具体可以是充电设备直接发送的，也可以是充电设备将第三偏移信息发送至调度终端，调度终端再转发至无人集卡车得到的。
上述实施例中，通过获取无人集卡车对位不准确之后所反馈的第三偏移信息，无人集卡车根据第三偏移信息获取充电设备的充电位置并重新进行对位，保证充电的顺利进行，提升了充电成功效率。
在一个实施例中，在锁定完成后向充电设备发送充电锁定完成信息，以指示充电设备 进行充电之后，无人集卡车调度方法具体还包括：当接收到充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息时，根据充电解锁指令对无人集卡车进行解锁；及根据第四偏移信息，返回获取充电设备的充电位置的步骤以继续执行。
具体地，当在进行充电过程中，无人集卡车的位置发生偏移时，充电设备可生成充电解锁指令和第四偏移信息。无人集卡车可接收到充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息，并根据充电解锁指令进行解锁。无人集卡车解锁后，可根据第四偏移信息获取充电设备的充电对位位置，并根据充电对位位置重新与充电设备进行对位。
在一个实施例中，无人集卡车接收到的第四偏移信息，具体可以是充电设备直接发送的，也可以是充电设备将第四偏移信息发送至调度终端，调度终端再转发至无人集卡车得到的。
上述实施例中，在进行充电过程中，无人集卡车的位置可能会发生偏移，通过获取在进行充电过程中所发送的充电解锁指令和第四偏移信息，将无人集卡车与充电设备重新进行对位，保证充电的顺利进行，进一步提升了充电成功效率。
在一个实施例中，港机设备为轮胎吊，如图4所示，调度终端可获取集装箱的贝位信息，并将集装箱的贝位信息发送至无人集卡车。无人集卡车在接收到调度终端发送的集装箱的贝位信息后，可获取轮胎吊的对位位置，根据对位位置进行调整和对位，直至对位完成。当对位完成后，无人集卡车可生成对位完成信息并将对位完成信息发送至轮胎吊。轮胎吊可根据接收到的对位完成信息，判断无人集卡车是否对位准确。当对位准确后，轮胎吊可生成锁定指令，并将锁定指令发送至调度端，通过调度终端将锁定指令转发至无人集卡车。当对位不准确时，轮胎吊可生成第一偏移信息，并将第一偏移信息发送至调度终端，调度终端可将第一偏移信息转发至无人集卡车，以指示无人集卡车重新进行对位，直至对位准确。当无人集卡车接收到调度终端发送的锁定完成信息后，无人集卡车可将锁定完成信息发送至轮胎吊，以指示轮胎吊进行装卸作业。当装卸作业不顺利时，轮胎吊可生成解锁指令和第二偏移信息，并将解锁指令和第二偏移信息发送至调度终端。调度终端可将解锁指令和第二偏移信息转发至无人集卡车，以指示无人集卡车重新进行对位，直至装卸作业完成。当装卸作业顺利时，轮胎吊可生成装卸作业完成信息，并将装卸作业完成信息发送至调度终端，以指示调度终端生成新的作业路径和解锁指令，并发送至无人集卡车。无人集卡车可在解锁后，按照新的行车路径继续行驶。
在一个实施例中，无人集卡车在上电之后，可与调度终端连接，并进入待命状态。无人集卡车在待命状态时，可接收调度终端的调度，根据调度以前往作业或前往待机。
在一个实施例中，如图5所示，无人集卡车可接收调度终端的调度，前往作业点。无人集卡车在到达作业点附近时，可搜索待交互的设备，即港机设备。当未搜索待交互的设备时，无人集卡车可上报异常信息至调度终端。当搜索到待交互的设备时，无人集卡车可与港机设备反复对位，对位完成后进行装卸作业，在装卸作业完成后，无人集卡车可接收解锁指令解锁并继续行驶至待机点待命。当调度任务取消时，无人集卡车可重新进行待命状态。
在一个实施例中，如图6所示，无人集卡车可接收调度终端的调度，前往待机点待命。无人集卡车在待机点待命时，可接收调度终端的调度，前往作业点、进行断电关机或 前往充电点进行充电。当调度任务取消时，无人集卡车可重新进行待命状态。
应该理解的是，虽然图2和图3的各个步骤按照顺序依次显示，但是这些步骤并不是必然按照顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，上述图2和图3中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图7所示，提供了一种无人集卡车调度装置700，包括：获取模块701、生成模块702、确定模块703、筛选模块704和发送模块705，其中：
获取模块701，用于获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息。
生成模块702，用于根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。
确定模块703，用于确定候选行车路径对应的消耗电量。
筛选模块704，用于从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径；及
发送模块705，用于将作业行车路径发送至无人集卡车，以指示无人集卡车按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
在一个实施例中，筛选模块704还用于按照消耗电量对消耗电量小于剩余电量的候选行车路径进行排序；及将排序后最小的消耗电量对应的候选行车路径确定为作业行车路径。
在一个实施例中，发送模块705还用于当各候选行车路径对应的消耗电量均大于或等于剩余电量时，获取距离无人集卡车最近的充电设备的位置信息；根据第一位置信息和充电设备的位置信息，生成无人集卡车的充电行车路径；及将充电行车路径发送至无人集卡车，以指示无人集卡车按照充电行车路径前往对应充电设备所在位置区域以进行充电。
在一个实施例中，发送模块705还用于接收港机设备响应于对位完成信息判断无人集卡车对位不准确之后所反馈的第一偏移信息；及将第一偏移信息发送至无人集卡车，以指示无人集卡车根据第一偏移信息获取港机设备的对位位置；无人集卡车根据对位位置与港机设备进行对位。
在一个实施例中，发送模块705还用于接收港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息；及将解锁指令和第二偏移信息发送至无人集卡车，以指示无人集卡车根据解锁指令进行解锁；无人集卡车根据第二偏移信息获取港机设备的对位位置；无人集卡车根据对位位置与港机设备进行对位。
在一个实施例中，发送模块705还用于接收充电设备响应于充电对位完成信息判断无人集卡车对位不准确之后所反馈的第三偏移信息；及将第三偏移信息发送至无人集卡车，以指示无人集卡车第三偏移信息获取充电设备的充电位置；无人集卡车根据充电位置与充电设备进行对位。
在一个实施例中，发送模块705还用于接收到充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息；及将充电解锁指令和第四偏移信息发送至无人集卡车，以指 示无人集卡车根据充电解锁指令进行解锁；无人集卡车根据第四偏移信息获取充电设备的充电位置；无人集卡车根据充电位置与充电设备进行对位。
上述无人集卡车调度装置，通过获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息。根据载箱状态、第一位置信息和第二位置信息，生成无人集卡车的候选行车路径。确定候选行车路径对应的消耗电量，从消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径；及将作业行车路径发送至无人集卡车，以指示无人集卡车按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。这样，通过从各候选行车路径对应的消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径，使得无人集卡车可有足够电量顺利达到对应港机设备所在位置区域以进行装卸作业，同时，也可使得无人集卡车电量的使用最大化，缩短了的无人集卡车的充电次数，提升了无人集卡车的装卸作业效率。
参考图8，在一个实施例中，无人集卡车调度装置800还包括：接收模块801和控制模块802，其中：
接收模块801，用于接收调度终端所发送的作业行车路径；作业行车路径是从候选行车路径对应的消耗电量小于无人集卡车的剩余电量的候选行车路径中筛选得到；候选行车路径是根据无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
控制模块802，用于按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
在一个实施例中，控制模块802还用于按照作业行车路径前往对应港机设备所在位置区域；当到达对应港机设备所在位置区域时，获取港机设备的对位位置；根据对位位置与港机设备进行对位，并在对位完成后向港机设备发送对位完成信息；及当接收到港机设备响应于对位完成信息所反馈的锁定指令时，根据锁定指令对无人集卡车进行锁定，并在锁定完成后向港机设备发送锁定完成信息，以指示港机设备进行装卸作业。
在一个实施例中，控制模块802还用于接收港机设备响应于对位完成信息判断无人集卡车对位不准确之后所反馈的第一偏移信息；及根据第一偏移信息，返回获取港机设备的对位位置的步骤以继续执行。
在一个实施例中，控制模块802还用于当接收到港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息时，根据解锁指令对无人集卡车进行解锁；及根据第二偏移信息返回获取港机设备的对位位置的步骤以继续执行。
在一个实施例中，控制模块802还用于接收调度终端所发送的充电行车路径；充电行车路径是根据第一位置信息和充电设备的位置信息生成得到；充电设备的位置信息是当消耗电量大于或等于剩余电量时，调度终端从距离无人集卡车最近的充电设备获取得到；按照充电行车路径前往对应充电设备所在位置区域以进行充电。
在一个实施例中，控制模块802还用于按照充电行车路径前往对应充电设备所在位置区域；当到达对应充电设备所在位置区域时，获取充电设备的充电位置；根据充电位置与充电设备进行对位，并在对位完成后向充电设备发送充电对位完成信息；及当接收到充电设备响应于充电对位完成信息所反馈的充电锁定指令时，根据充电锁定指令对无人集卡车进行锁定，并在锁定完成后向充电设备发送充电锁定完成信息，以指示充电设备进行充电。
在一个实施例中，控制模块802还用于接收充电设备响应于充电对位完成信息判断无人集卡车对位不准确之后所反馈的第三偏移信息；及根据第三偏移信息，返回获取充电设备的充电位置的步骤以继续执行。
在一个实施例中，控制模块802还用于当接收到充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息时，根据充电解锁指令对无人集卡车进行解锁；及根据第四偏移信息，返回获取充电设备的充电位置的步骤以继续执行。
上述无人集卡车调度装置，通过接收调度终端所发送的作业行车路径；作业行车路径是从候选行车路径对应的消耗电量小于无人集卡车的剩余电量的候选行车路径中筛选得到；候选行车路径是根据无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到。按照作业行车路径前往对应港机设备所在位置区域以进行装卸作业。这样，通过从各候选行车路径对应的消耗电量小于剩余电量的候选行车路径中筛选出作业行车路径，使得无人集卡车可有足够电量顺利达到对应港机设备所在位置区域以进行装卸作业，同时，也可使得无人集卡车电量的使用最大化，缩短了的无人集卡车的充电次数，提升了无人集卡车的装卸作业效率。
关于无人集卡车调度装置的具体限定可以参见上文中对于无人集卡车调度方法的限定，在此不再赘述。上述无人集卡车调度装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是上述图1中的调度终端102，其内部结构图可以如图9所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种无人集卡车调度方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图9中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器存储有计算机程序，计算机程序被处理器执行时，使得处理器执行上述无人集卡车调度方法的步骤。此处无人集卡车调度方法的步骤可以是上述各个实施例的无人集卡车调度方法中的步骤。
在一个实施例中，提供了一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时，使得处理器执行上述无人集卡车调度方法的步骤。此处无人集卡车调度方法的步骤可以是上述各个实施例的无人集卡车调度方法中的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通 过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种无人集卡车调度方法，其特征在于，应用于调度终端，所述方法包括：
    获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息；
    根据所述载箱状态、所述第一位置信息和所述第二位置信息，生成所述无人集卡车的候选行车路径；
    确定所述候选行车路径对应的消耗电量；
    从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径；及
    将所述作业行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
  2. 根据权利要求1所述的方法，其特征在于，所述从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径，包括：
    按照消耗电量对所述消耗电量小于所述剩余电量的候选行车路径进行排序；及
    将排序后最小的消耗电量对应的候选行车路径确定为作业行车路径。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    当各候选行车路径对应的消耗电量均大于或等于所述剩余电量时，获取距离所述无人集卡车最近的充电设备的位置信息；
    根据所述第一位置信息和所述充电设备的位置信息，生成所述无人集卡车的充电行车路径；及
    将所述充电行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述充电行车路径前往对应充电设备所在位置区域以进行充电。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收所述港机设备响应于对位完成信息判断所述无人集卡车对位不准确之后所反馈的第一偏移信息；及
    将所述第一偏移信息发送至所述无人集卡车，以指示所述无人集卡车根据所述第一偏移信息获取所述港机设备的对位位置；所述无人集卡车根据所述对位位置与所述港机设备进行对位。
  5. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收所述港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息；及
    将所述解锁指令和所述第二偏移信息发送至所述无人集卡车，以指示所述无人集卡车根据所述解锁指令进行解锁；所述无人集卡车根据所述第二偏移信息获取所述港机设备的对位位置；所述无人集卡车根据所述对位位置与所述港机设备进行对位。
  6. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收充电设备响应于充电对位完成信息判断所述无人集卡车对位不准确之后所反馈的第三偏移信息；及
    将所述第三偏移信息发送至所述无人集卡车，以指示所述无人集卡车所述第三偏移信息获取所述充电设备的充电位置；所述无人集卡车根据所述充电位置与所述充电设备进行对位。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收到充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息；及
    将所述充电解锁指令和所述第四偏移信息发送至所述无人集卡车，以指示所述无人集卡车根据所述充电解锁指令进行解锁；所述无人集卡车根据所述第四偏移信息获取所述充电设备的充电位置；所述无人集卡车根据所述充电位置与所述充电设备进行对位。
  8. 一种无人集卡车调度方法，其特征在于，应用于无人集卡车，所述方法包括：
    接收调度终端所发送的作业行车路径；所述作业行车路径是从候选行车路径对应的消耗电量小于所述无人集卡车的剩余电量的候选行车路径中筛选得到；所述候选行车路径是根据所述无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
    按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
  9. 根据权利要求8所述的方法，其特征在于，所述按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业，包括：
    按照所述作业行车路径前往对应港机设备所在位置区域；
    当到达对应港机设备所在位置区域时，获取所述港机设备的对位位置；
    根据所述对位位置与所述港机设备进行对位，并在对位完成后向所述港机设备发送对位完成信息；及
    当接收到所述港机设备响应于所述对位完成信息所反馈的锁定指令时，根据所述锁定指令对所述无人集卡车进行锁定，并在锁定完成后向所述港机设备发送锁定完成信息，以指示所述港机设备进行装卸作业。
  10. 根据权利要求9所述的方法，其特征在于，所述在对位完成后向所述港机设备发送对位完成信息之后，所述方法还包括：
    接收所述港机设备响应于所述对位完成信息判断所述无人集卡车对位不准确之后所反馈的第一偏移信息；及
    根据所述第一偏移信息，返回所述获取所述港机设备的对位位置的步骤以继续执行。
  11. 根据权利要求9所述的方法，其特征在于，所述在锁定完成后向所述港机设备发送锁定完成信息，以指示所述港机设备进行装卸作业之后，所述方法还包括：
    当接收到所述港机设备在进行装卸作业过程中所发送的解锁指令和第二偏移信息时，根据所述解锁指令对所述无人集卡车进行解锁；及
    根据所述第二偏移信息返回所述获取所述港机设备的对位位置的步骤以继续执行。
  12. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    接收调度终端所发送的充电行车路径；所述充电行车路径是根据所述第一位置信息和充电设备的位置信息生成得到；所述充电设备的位置信息是当所述消耗电量大于或等于所述剩余电量时，所述调度终端从距离所述无人集卡车最近的充电设备获取得到；
    按照所述充电行车路径前往对应充电设备所在位置区域以进行充电。
  13. 根据权利要求12所述的方法，其特征在于，所述按照所述充电行车路径前往对应充电设备所在位置区域以进行充电，包括：
    按照所述充电行车路径前往对应充电设备所在位置区域；
    当到达对应充电设备所在位置区域时，获取所述充电设备的充电位置；
    根据所述充电位置与所述充电设备进行对位，并在对位完成后向所述充电设备发送充电对位完成信息；及
    当接收到所述充电设备响应于所述充电对位完成信息所反馈的充电锁定指令时，根据 所述充电锁定指令对所述无人集卡车进行锁定，并在锁定完成后向所述充电设备发送充电锁定完成信息，以指示所述充电设备进行充电。
  14. 根据权利要求13所述的方法，其特征在于，所述在对位完成后向所述充电设备发送充电对位完成信息之后，所述方法还包括：
    接收所述充电设备响应于所述充电对位完成信息判断所述无人集卡车对位不准确之后所反馈的第三偏移信息；及
    根据所述第三偏移信息，返回所述获取所述充电设备的充电位置的步骤以继续执行。
  15. 根据权利要求13所述的方法，其特征在于，所述在锁定完成后向所述充电设备发送充电锁定完成信息，以指示所述充电设备进行充电之后，所述方法还包括：
    当接收到所述充电设备在进行充电过程中所发送的充电解锁指令和第四偏移信息时，根据所述充电解锁指令对所述无人集卡车进行解锁；及
    根据所述第四偏移信息，返回所述获取所述充电设备的充电位置的步骤以继续执行。
  16. 一种无人集卡车调度装置，其特征在于，所述装置包括：
    获取模块，用于获取无人集卡车的剩余电量、载箱状态、第一位置信息和港机设备的第二位置信息；
    生成模块，用于根据所述载箱状态、所述第一位置信息和所述第二位置信息，生成所述无人集卡车的候选行车路径；
    确定模块，用于确定所述候选行车路径对应的消耗电量；
    筛选模块，用于从所述消耗电量小于所述剩余电量的候选行车路径中筛选出作业行车路径；及
    发送模块，用于将所述作业行车路径发送至所述无人集卡车，以指示所述无人集卡车按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
  17. 根据权利要求16所述的装置，其特征在于，所述筛选模块还用于按照消耗电量对所述消耗电量小于所述剩余电量的候选行车路径进行排序；及将排序后最小的消耗电量对应的候选行车路径确定为作业行车路径。
  18. 一种无人集卡车调度装置，其特征在于，所述装置包括：
    接收模块，用于接收调度终端所发送的作业行车路径；所述作业行车路径是从候选行车路径对应的消耗电量小于所述无人集卡车的剩余电量的候选行车路径中筛选得到；所述候选行车路径是根据所述无人集卡车的载箱状态、第一位置信息和港机设备的第二位置信息生成得到；及
    控制模块，用于按照所述作业行车路径前往对应港机设备所在位置区域以进行装卸作业。
  19. 一种计算机设备，包括存储器、处理器及存储在存储器上并可在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计算机程序时实现权利要求1至15中任一项所述的方法的步骤。
  20. 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，所述计算机程序被处理器执行时实现权利要求1至15中任一项所述的方法的步骤。
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