CN115310867A

CN115310867A - Unmanned vehicle scheduling platform, unmanned vehicle, scheduling method and storage medium

Info

Publication number: CN115310867A
Application number: CN202211181121.1A
Authority: CN
Inventors: 何玉东
Original assignee: Beijing Yikong Zhijia Technology Co Ltd
Current assignee: Beijing Yikong Zhijia Technology Co Ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2022-11-08
Also published as: WO2024067462A1

Abstract

The application discloses a dispatching platform of an unmanned vehicle, the unmanned vehicle, a dispatching method and a storage medium, and belongs to the technical field of unmanned driving. The scheduling platform can generate a circular operation task list; when a trigger instruction or preset state information reported by the unmanned vehicle, appointed task information or specific position information is completed, the task sending part sends a circular operation task list to the unmanned vehicle, so that the unmanned vehicle can adjust a loading operation position and/or an unloading operation position in real time without depending on the scheduling of a scheduling platform in the process of circulating operation tasks in the circular operation task list; and a new circular operation task list can be triggered to be sent to the unmanned vehicle based on the vehicle-end information of the unmanned vehicle or the platform-end information of the dispatching platform. According to the method and the system, the circulating operation task list is issued once, so that the unmanned vehicle can adjust the loading operation position and/or the unloading operation position in the operation task in real time without depending on the scheduling of the scheduling platform.

Description

Unmanned vehicle scheduling platform, unmanned vehicle, scheduling method and storage medium

Technical Field

The application relates to the technical field of unmanned driving, in particular to a dispatching platform of an unmanned vehicle, the unmanned vehicle, a dispatching method and a storage medium.

Background

The unmanned vehicle needs to acquire the job task issued by the scheduling platform and then execute the job task. At present, a mode for acquiring an operation task by an unmanned vehicle is generally that after the unmanned vehicle completes a previous operation task, or immediately before the previous operation task is completed, the operation task is updated for the unmanned vehicle through a scheduling platform.

When the network conditions near the target position of the unmanned vehicle for executing the operation task are not good, the new operation task cannot be issued in time or cannot be issued to the unmanned vehicle at all, so that the operation efficiency of the unmanned vehicle is reduced or the operation is completely stopped.

Disclosure of Invention

The application provides a scheduling platform, an unmanned vehicle, a scheduling method and a storage medium of the unmanned vehicle, which are used for solving the problem that when an operation task cannot be issued to the unmanned vehicle in time or completely, the operation efficiency of the unmanned vehicle is reduced or the operation is completely stopped. The technical scheme is as follows:

in one aspect, a dispatching platform of an unmanned vehicle is provided, comprising: the system comprises a task construction module, a task issuing module and a task updating module;

the task construction module can generate a circular operation task list; the circulating operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

the task issuing module comprises an information receiving part and a task sending part, when the information receiving part receives a trigger instruction or preset state information reported by an unmanned vehicle, appointed task information or specific position information, the task sending part sends the circular operation task list to the unmanned vehicle, and the unmanned vehicle can adjust the loading operation position and/or the unloading operation position in the operation task in real time without depending on the scheduling of a scheduling platform in the process of circularly executing the operation task in the circular operation task list;

the task updating module can acquire vehicle end information of the unmanned vehicle or platform end information counted by the scheduling platform, and trigger the task sending part to send a new circular operation task list to the unmanned vehicle based on the vehicle end information or the platform end information.

In a possible implementation manner, the task construction module may respectively estimate upper limits of the number of operations of the loading operation positions and the unloading operation positions, and calculate an upper limit of the number of cycles based on the number of loading operation positions in the loading area, the number of unloading operation positions in the unloading area, and the upper limit of the number of operations;

the task transmission unit may transmit the upper limit of the number of cycles corresponding to the cyclic task list to the unmanned vehicle so that the unmanned vehicle stops executing the task after the number of times of cyclically executing the task in the cyclic task list reaches the upper limit of the number of cycles.

In a possible implementation manner, the vehicle-side information includes at least one of position information, failure information, surrounding environment information, network condition information of a located area, and task completion condition information acquired by the unmanned vehicle.

In a possible implementation manner, the platform side information includes at least one of operation information of at least one unmanned vehicle, task condition information of at least one unmanned vehicle, and map update information, which are counted by the scheduling platform.

In one possible implementation, the new loop job task list includes a new load area and/or a new unload area.

In one possible implementation manner, the method further includes: a task exit module;

the task exit module can send scheduling information to the unmanned vehicle so that the unmanned vehicle stops executing the job tasks in the circular job task list based on the scheduling information.

In one aspect, an unmanned vehicle is provided, comprising: the task receiving module and the task executing module;

the task receiving module can receive a circular operation task list sent by a dispatching platform of the unmanned vehicle; the circular operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

the task execution module can adjust the loading operation position and/or the unloading operation position in the operation task in real time without depending on the scheduling of the scheduling platform in the process of circularly executing the operation task in the circular operation task list;

the task receiving module can receive a new circular job task list sent by the scheduling platform and update the original circular job task list by using the new circular job task list.

In a possible implementation manner, the task receiving module may receive an upper limit of the number of cycles sent by the scheduling platform;

and the task execution module can stop executing the job task after the number of times of circularly executing the job task in the circular job task list reaches the upper limit of the circular number of times.

the task exit module can acquire the scheduling information sent by the scheduling platform and stop executing the job tasks in the circular job task list based on the scheduling information.

In one aspect, a method for scheduling an unmanned vehicle is provided, the method comprising:

generating a circular operation task list; the circular operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

when a trigger instruction or preset state information reported by an unmanned vehicle, information of finishing a specified task or information of a specific position where the specified task is located are received, the circulating operation task list is sent to the unmanned vehicle, and the unmanned vehicle can adjust the loading operation position and/or the unloading operation position in the operation task in real time without depending on the scheduling of a scheduling platform in the process of circularly executing the operation task in the circulating operation task list;

and acquiring vehicle end information of the unmanned vehicle or platform end information of the dispatching platform, and triggering to send a new circular operation task list to the unmanned vehicle based on the vehicle end information or the platform end information.

receiving a circular operation task list sent by a dispatching platform of the unmanned vehicle; the circular operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

in the process of circularly executing the job tasks in the circular job task list, the loading job position and/or the unloading job position in the job task are/is adjusted in real time without depending on the scheduling of the scheduling platform;

and receiving a new circular job task list sent by the scheduling platform, and updating the original circular job task list by using the new circular job task list.

In one aspect, a computer-readable storage medium having at least one instruction stored therein, the at least one instruction being loaded and executed by a processor to implement the method for unmanned vehicle dispatch as described above is provided.

The technical scheme provided by the application has the beneficial effects that:

the circulating operation task list comprises operation tasks for loading materials in the loading area and operation tasks for unloading the materials in the unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop.

By issuing the circular operation task list at one time, the unmanned vehicle can circularly operate, and compared with the operation task which is sent by the scheduling platform and needs to be received in each operation, the communication frequency and the communication data volume can be greatly reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a block diagram of a scheduling platform of an unmanned vehicle according to yet another embodiment of the present application;

FIG. 2 is a schematic view of an unloading area provided by another embodiment of the present application;

FIG. 3 is a block diagram of an unmanned vehicle according to yet another embodiment of the present application;

FIG. 4 is a flowchart of a method for scheduling an unmanned vehicle according to an embodiment of the present application;

fig. 5 is a flowchart of a method for scheduling an unmanned vehicle according to another embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

In some application scenarios, the unmanned vehicle is able to cycle between limited job tasks. Taking an application scenario of mine unmanned driving as an example, an operation task list of an unmanned vehicle in a mining, transportation and discharging operation process generally comprises the following six operation tasks:

1. after soil is discharged from the soil discharging position, the user goes to a road junction of a loading area;

2. after reaching the intersection of the loading area, the user goes to a specified loading position of the loading equipment;

3. after the unmanned vehicle reaches the appointed loading position of the loading equipment, the loading equipment loads materials for the unmanned vehicle;

4. after the materials are loaded, the materials go to an intersection of an unloading area;

5. after arriving at an intersection of an unloading area, going to a designated soil discharging position;

6. and after reaching the designated soil discharging position, discharging soil.

In the normal working process of mining, transportation and discharging, the unmanned vehicle circulates and reciprocates among the working tasks 1-6 for a long time.

In the related art, the unmanned vehicle is scheduled as follows:

1. after the unmanned vehicle finishes the dumping, reporting to a scheduling platform, and issuing a work task to an intersection of a loading area by the scheduling platform for the unmanned vehicle;

2. when the unmanned vehicle is about to reach the intersection of the loading area, the scheduling platform issues an operation task to a loading position of the appointed loading equipment for the unmanned vehicle;

3. after the unmanned vehicle reaches the loading position of the loading equipment, starting a loading task;

4. after the unmanned vehicle finishes loading, reporting to a scheduling platform, and issuing a job task to an intersection of an unloading area for the unmanned vehicle by the scheduling platform;

5. when the unmanned vehicle is about to arrive at an intersection of an unloading area, the scheduling platform issues a job task to a designated unloading position for the unmanned vehicle;

6. and after the unmanned vehicle reaches the designated unloading position, starting the operation task of dumping.

According to the above operation flows, when the unmanned vehicle performs the connection of the operation tasks, the operation tasks of the unmanned vehicle are adjusted by the scheduling platform according to the position or the state of the unmanned vehicle, so as to ensure the continuity of the operation tasks.

However, in the actual operation process, the unmanned vehicle may have network coverage problems in different operation areas, such as:

1. the operation area is enlarged due to the excavator operation, and network signals cannot be covered;

2. the left side and the right side near the intersection positions of the loading area and the unloading area are shielded by slopes, so that disconnection or insufficient network bandwidth is easy to occur in network connection;

3. a base station fault causes that part of the operation area has no network completely within a period of time;

when such network problems occur, the current scheduling mode can cause delay or interruption of the unmanned vehicle when the unmanned vehicle performs task connection, and the operation efficiency is reduced.

In order to overcome the problems, the application provides a scheduling method based on the circular operation tasks, the operation tasks of the unmanned vehicle for loading materials in a loading area and the operation tasks of the unmanned vehicle for unloading the materials in an unloading area are organized into a circular operation task list, the circular operation task list is issued to the unmanned vehicle at one time, after the unmanned vehicle completes a single operation task, if the unmanned vehicle cannot timely receive or completely cannot receive updated operation tasks due to network conditions, the operation tasks in the circular operation task list are circularly executed, and when the network conditions are recovered and a new circular operation task list is received, the operation tasks are continuously and circularly executed according to the new circular operation task list.

Referring to fig. 1, a block diagram of a dispatching platform of an unmanned vehicle according to an embodiment of the present application is shown, where the dispatching platform of the unmanned vehicle may include: a task construction module 110, a task issuing module 120 and a task updating module 130.

A task construction module 110 capable of generating a circular job task list; the circular operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop.

In this embodiment, the unmanned vehicle needs to perform a mining, transporting and arranging operation process. In short, the unmanned vehicle needs to load materials at one designated operation position first, then transport the materials to another designated operation position, and unload the materials at the operation position. The operation position is a parking position with fixed length and width, so that the unmanned vehicle can conveniently park. According to the application corresponding to the operation position, the operation position is divided into a loading operation position and an unloading operation position in the embodiment, the loading operation position is an operation position for the unmanned vehicle to stop so as to load materials, and the unloading operation position is an operation position for the unmanned vehicle to stop so as to unload materials. Taking the material as the mineral soil as an example, one loading operation position can be an operation position near one loading device (such as an excavator), and after the unmanned vehicle stops at the loading operation position, the loading device can load the material to the unmanned vehicle; one unloading operation position can be a dumping position, and the unmanned vehicle can unload materials after stopping at the unloading operation position.

The task construction module 110 may form at least two loading tasks into a loading area, form at least two unloading tasks into an unloading area, split the mining and transportation and arranging task flow into a task of loading materials in the loading area and a task of unloading materials in the unloading area, and form a circular task list from the tasks. The loading operation positions in the loading area can be continuous or discrete; similarly, the unloading operation positions in the unloading area can be continuous or discrete. Taking the unloading operation site as a soil discharging site as an example, in fig. 2, the soil discharging sites 1-2 to 1-4 constitute one unloading area, and the soil discharging sites 1-5 to 1-10 constitute another unloading area.

The task construction module 110 may generate different circular task lists for each unmanned vehicle (where the different circular task lists refer to different loading areas and/or unloading areas, and other contents are the same), and the loading areas in the different circular task lists may be overlapped or not overlapped, and the unloading areas in the different circular task lists may be overlapped or not overlapped. In this case, the task construction module 110 can acquire the work speed and the expected cycle length of the unmanned vehicle, select a first number of loading work bits to constitute the loading area and a second number of unloading work bits to constitute the unloading area based on the work speed and the expected cycle length, the first number and the second number being equal or different. Wherein the first quantity has a positive correlation with the operation speed and the expected cycle length. That is, the faster the operation speed is, the larger the first number is when the expected cycle time is the same; the slower the operation speed, the smaller the first number. When the operation speed is the same, the longer the expected cycle duration is, the more the first number is; the shorter the expected cycle length, the smaller the first number. Similarly, the second quantity is also in positive correlation with the operation speed and the expected cycle duration, and is not described in detail.

The task construction module 110 may generate the same circular operation task list for at least two unmanned vehicles, and loading regions in different circular operation task lists may be overlapped or not overlapped, and unloading regions in different circular operation task lists may be overlapped or not overlapped. In this case, the task construction module 110 may acquire the number of unmanned vehicles, the work speed, and the expected cycle length within the work area, select a third number of loading work stations to constitute the loading area, and select a fourth number of unloading work stations to constitute the unloading area, based on the number of unmanned vehicles, the work speed, and the expected cycle length, the third number and the fourth number being equal or different. Wherein the third number has a positive correlation with the number of unmanned vehicles, the operation speed and the expected cycle duration. That is, when the number of the unmanned vehicles is the same as the expected cycle time, the faster the operation speed is, the more the third number is; the slower the operation speed, the smaller the third number. When the number of the unmanned vehicles is the same as the operation speed, the longer the expected cycle duration is, the more the third number is; the shorter the expected cycle length, the less the third number. When the operation speed is the same as the expected cycle duration, the larger the number of the unmanned vehicles is, the larger the third number is; the smaller the number of unmanned vehicles, the smaller the third number. Similarly, the fourth quantity is in positive correlation with the number of the unmanned vehicles, the operation speed and the estimated cycle duration, and is not described in detail.

Taking the mine unmanned operation task list as an example, the generated circular operation task list is as follows:

1. after soil is discharged from the unloading area, the user goes to the intersection of the loading area;

2. after arriving at a crossing of a loading area, the user goes to the appointed loading area;

3. after the unmanned vehicle reaches a designated loading area, loading materials to the unmanned vehicle by loading equipment;

4. after the materials are loaded, the user goes to an intersection of an unloading area;

5. after arriving at an intersection of an unloading area, going to a designated unloading area;

6. after reaching the designated unloading area, the dumping is started.

The task issuing module 120 includes an information receiving portion and a task sending portion, when the information receiving portion receives a trigger instruction or preset state information reported by the unmanned vehicle, information of completing a specified task or information of a specific location where the specified task is located, the task sending portion sends a circular job task list to the unmanned vehicle, and the unmanned vehicle can adjust a loading job position and/or an unloading job position in a job task in real time without depending on scheduling of a scheduling platform in a process of circularly executing the job task in the circular job task list.

After the cyclic job task list is generated, the task issuing module 120 may issue the cyclic job task list to the unmanned vehicle at any time.

In an alternative embodiment, the task issuing module 120 includes an information receiving part and a task transmitting part, and the task transmitting part transmits the loop job task list to the unmanned vehicle when the information receiving part receives the trigger information.

In one implementation, the trigger information is a trigger instruction. The trigger instruction may be triggered manually or sent by other scheduling platforms, and the source of the trigger instruction is not limited in this embodiment.

In another implementation manner, the trigger information is preset state information reported by the unmanned vehicle, information for completing a specified task or information of a specific location where the unmanned vehicle is located. The preset state information indicates that the unmanned vehicle is in a preset state or is about to be in the preset state, and the preset state can be set according to actual requirements. For example, the preset state information indicates that the unmanned vehicle is about to enter an area with a poor network signal, which indicates that the unmanned vehicle may not receive the circular operation task list sent by the task issuing module 120 in a period of time in the future, and therefore, the circular operation task list needs to be sent to the unmanned vehicle in advance. For another example, the preset state information indicates that the current network signal of the unmanned vehicle is good, so that a cyclic job task list needs to be sent to the unmanned vehicle to avoid that the network signal of the unmanned vehicle is degraded and the cyclic job task list cannot be received.

The completion of the designated task information indicates that the unmanned vehicle has completed the designated task, which may be a staged or difficult-to-implement task. For example, if the designated task may be a refueling task, the unmanned vehicle may send a circular job task list after refueling the unmanned vehicle. For another example, if the designated task may be a single task, the loop job task list may be sent to the unmanned vehicle after the unmanned vehicle completes the single task.

The specific position information indicates the specific position of the unmanned vehicle, and the specific position can be set according to actual requirements. For example, the specific location may be a location near the base station, and the network signal of the unmanned vehicle is good, so that the loop job task list needs to be sent to the unmanned vehicle. For example, the specific position may be a departure position of the unmanned vehicle, which indicates that the unmanned vehicle has not departed, and therefore, it is necessary to transmit a circular task list to the unmanned vehicle so that the unmanned vehicle can directly and circularly execute the task after departure.

After receiving the circular operation task list, the unmanned vehicle can execute the operation tasks in the circular operation task list after finishing the currently executed operation task; or the execution of the currently executed job task can be suspended, and the job tasks in the circular job task list can be immediately executed; the job tasks in the circular job task list can be executed after the currently executed job task is executed to a certain extent, and the specific execution mode can be set according to actual requirements.

When the operation tasks in the circular operation task list are executed, the circular operation task list comprises the operation tasks of loading materials in the loading area and the operation tasks of unloading the materials in the unloading area, so that the unmanned vehicle can sequentially execute the operation tasks according to the sequence of loading the materials firstly and then unloading the materials; after the last operation task in the circular operation task list is executed, the unmanned vehicle sequentially executes the operation tasks according to the sequence of firstly loading materials and then unloading the materials, and therefore the circulation of all the operation tasks in the circular operation task list is achieved. That is, the unmanned vehicle executes the job tasks 1 to 6 in the loop job task list and then executes the job tasks 1 to 6 in the loop job task list again. Specifically, when the job task is executed in a circulating manner, the unmanned vehicle can adjust the loading job position and/or the unloading job position in the job task in real time without depending on the scheduling of the scheduling platform, which is described in the embodiment shown in fig. 3 for details and is not described herein again.

In an alternative embodiment, the task construction module 110 can respectively estimate the upper limit of the number of operations of the loading operation positions and the unloading operation positions, and calculate the upper limit of the number of cycles based on the number of loading operation positions in the loading area, the number of unloading operation positions in the unloading area, and the upper limit of the number of operations; and a task transmission unit capable of transmitting the upper limit of the number of cycles corresponding to the cyclic task list to the unmanned vehicle so that the unmanned vehicle stops executing the task after the number of times of cyclically executing the task in the cyclic task list reaches the upper limit of the number of cycles.

When the upper limit of the number of loading operation positions is estimated, assuming that the width of a loading area is 40 meters and the width of each loading operation position is 4 meters, the upper limit of the number of cycles of the loading area is estimated to be =10 × 10=100, assuming that each loading operation position can contain 10 trucks of mineral soil.

When the upper limit of the operation times of the unloading operation positions is estimated, assuming that one unloading area comprises 10 unloading operation positions and each unloading operation position needs leveling updating after 8 trucks of ore soil are unloaded, the upper limit of the cycle times of one unloading area is estimated to be =10 × 8=80.

The upper limit of the number of times of the circulation operation of the loading operation position and the unloading operation position may be equal or unequal. If not, the upper limit of the number of times of the small circulation operation is defined.

In the embodiment, an original loading operation position is modified into a loading area with a certain range, and an original unloading operation position is modified into a dumping area with a certain range, so that in a certain time range, even if the field changes, unmanned vehicle industry can select a proper loading operation position to stop and load materials in a specified loading area according to self capacity (such as sensing and planning capacity), select a proper unloading operation position to stop and unload materials in the specified unloading area, and the problem that tasks cannot be executed due to poor network and untimely updating of scheduling tasks by a scheduling platform is avoided.

The scheduling platform further includes a task updating module 130, which is capable of acquiring vehicle end information of the unmanned vehicle or platform end information of the scheduling platform, and triggering the task sending unit to send a new circular job task list to the unmanned vehicle based on the vehicle end information or the platform end information.

The task update module 130 can update the loop job task list. In a first implementation, the task list of the cyclic task may be updated by event triggering, that is, the task list of the cyclic task is updated when the task update module 130 receives predetermined event information, where the predetermined event information may include vehicle-end information and platform-end information. In a second implementation, the task update module 130 may update the list of recurring tasks periodically, such as every predetermined second or every predetermined minute or every predetermined hour. In a third implementation manner, the task update module 130 may periodically obtain vehicle end information or platform end information, determine whether the circular operation task list needs to be updated based on the vehicle end information or the platform end information, and if so, update the circular operation task list; and if not, not updating the circular operation task list.

(1) The vehicle-side information includes at least one of position information, fault information, surrounding environment information, network condition information of a located area and task completion condition information acquired by the unmanned vehicle.

a. When the vehicle-side information is position information acquired by the unmanned vehicle, the task updating module 130 may determine whether the unmanned vehicle has reached the designated position or is about to reach the designated position based on the position information, and if so, trigger the task sending unit to send a new circular task list to the unmanned vehicle.

The designated position can be set according to actual requirements. For example, the specified position is a position where a last loading working position in the loading area is located and/or a position where a last unloading working position in the unloading area is located, which indicates that the unmanned vehicle is about to complete a work at the last loading working position and/or a work at the last unloading working position, and the loading area and/or the unloading area of the unmanned vehicle need to be updated, that is, the cyclic work task list needs to be updated. For another example, the designated location is a location near the base station, and at this time, the network signal of the unmanned vehicle is good, and the cyclic job task list needs to be updated.

b. When the vehicle-side information is failure information of the unmanned vehicle, the task updating module 130 may determine whether the unmanned vehicle has failed based on the failure information, and if so, trigger the task sending unit to send a new circular task list to the unmanned vehicle.

For example, when the unmanned vehicle fails, it is described that the unmanned vehicle cannot continue to execute the job tasks in the circular job task list, and the circular job task list needs to be updated.

c. When the vehicle-side information is the ambient environment information, the task update module 130 may determine whether the unmanned vehicle executes the job task at the boundary of the loading area or the unloading area based on the ambient environment information, and if so, trigger the task sending unit to send a new circular job task list to the unmanned vehicle.

For example, when the unmanned vehicle executes a job task at the boundary of the loading area or the unloading area, it is required to update the circular job task list to indicate that the unmanned vehicle is about to complete the job tasks of all the loading job sites or all the unloading job sites.

d. When the vehicle-end information is network condition information of an area where the unmanned vehicle is located, the task updating module 130 may determine whether the unmanned vehicle has recovered the network signal based on the network condition information, and if so, trigger the task sending unit to send a new circular operation task list to the unmanned vehicle.

For example, when the network signal of the unmanned vehicle is restored, it is indicated that the unmanned vehicle can receive a new circular operation task list, and the circular operation task list can be updated.

e. When the vehicle-end information is the task completion information of the unmanned vehicle, the task update module 130 can determine whether the unmanned vehicle has completed or is about to complete the specified task based on the task completion information, and if so, trigger the task sending unit to send a new circular operation task list to the unmanned vehicle.

The designated tasks may be set according to actual requirements. For example, when it is determined that the unmanned vehicle has traveled to the intersection of the loading area based on the completed task situation information, the loop job task list needs to be updated.

It should be noted that, in the above, only vehicle-end information is taken as an example, in actual implementation, the vehicle-end information may be at least two types of information, and when the task update module 130 determines that the determination result of each type of information is yes, the task sending part is triggered to send a new circular operation task list to the unmanned vehicle, which will not be described below.

(2) The platform end information comprises at least one of operation information of at least one unmanned vehicle, task condition information of at least one unmanned vehicle and map updating information which are counted by the scheduling platform.

f. The operation information is at least one of daily operation information, annual operation information and total operation information obtained by performing statistics of different time dimensions on mileage, vehicle numbers and amount of a prescription.

When the platform side information is the operation information, the task update module 130 may determine whether another operation task needs to be issued for the unmanned vehicle based on at least one of the daily operation information, the annual operation information, and the total operation information, and if so, trigger the task sending unit to send a new circular operation task list to the unmanned vehicle.

The daily operation information comprises daily mileage information, daily train number information and daily amount information; the annual operation information comprises annual mileage information, annual train number information and annual square amount information; the total operation information includes accumulated mileage information, accumulated vehicle number information, and accumulated amount information.

For example, the task update module 130 can determine whether the unmanned vehicle has completed the task on the current day based on the mileage information on the current day, the vehicle number information on the current day, or the amount information on the current day, and if so, needs to issue other task for the unmanned vehicle, and needs to update the circular task list.

g. When the platform side information is task condition information of at least one unmanned vehicle, the task update module 130 may determine whether at least one working vehicle has completed or is about to complete a specified task based on the task condition information, and if so, trigger the task sending part to send a new circular task list to the unmanned vehicle.

The dispatching platform can communicate with at least one unmanned vehicle in a V2V (vehicle-to-vehicle) communication mode to acquire task condition information of the at least one unmanned vehicle.

The designated tasks may be set according to actual requirements. For example, the task condition information of at least one unmanned vehicle indicates that at least one unmanned vehicle is about to complete all tasks of loading work sites or all tasks of unloading work sites, and the circular task list needs to be updated.

In this embodiment, the loading area and/or the unloading area are variable, i.e. the new loop job task list includes a new loading area and/or a new unloading area. When a new loading area and/or a new unloading area are/is generated, the dispatching platform can count loading operation positions needing to continue operation, and a new loading area is generated based on the loading operation positions; and counting unloading operation bits of the continuous operation, and generating a new unloading area based on the unloading operation bits.

h. When the platform side information is map update information, the task update module 130 may determine whether the unmanned vehicle executes a task at a boundary of the loading area or the unloading area based on the map update information, and if so, trigger the task sending unit to send a new circular task list to the unmanned vehicle.

For example, when it is determined that the unmanned vehicle performs a job task at the boundary of the loading area or the unloading area according to the map update information, it is necessary to update the circular job task list, which indicates that the unmanned vehicle is about to complete the job tasks at all the loading job sites or all the unloading job sites.

It should be noted that, when the network signal is good or poor, the scheduling platform may perform scheduling by using the scheduling method.

In an optional embodiment, the scheduling platform may further include a task exit module capable of sending scheduling information to the unmanned vehicle to cause the unmanned vehicle to stop executing job tasks in the circular job task list based on the scheduling information.

For example, the task exit module can generate scheduling information according to the scheduling condition of the task exit module and send the scheduling information to the unmanned vehicle. Specifically, the task exit module can send scheduling information to the unmanned vehicle, so that the unmanned vehicle stops executing the job tasks in the circular job task list based on the scheduling information. The scheduling information may be generated by manually controlling the scheduling platform, or may be generated by the scheduling platform according to the platform side information, which is not limited in this embodiment.

To sum up, the unmanned vehicle dispatching platform provided by the embodiment of the application has the advantages that the circular operation task list comprises the operation tasks of loading materials in the loading area and the operation tasks of unloading the materials in the unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop, so that the circular operation tasks are issued at one time, the unmanned vehicle can adjust the loading operation positions and/or the unloading operation positions in the operation tasks in real time in the process of circularly executing the operation tasks in the circular operation task list without depending on the dispatching of the dispatching platform, the network dependence is greatly reduced, the unmanned vehicle can continuously keep the execution of the operation tasks under the condition of poor network condition and even complete loss of the network, and the continuity and the efficiency of the operation are improved.

Referring to fig. 3, a block diagram of an unmanned vehicle according to an embodiment of the present application is shown, where the unmanned vehicle may include: a task receiving module 310 and a task executing module 320.

The task receiving module 310 can receive a circular job task list sent by a scheduling platform of the unmanned vehicle; the circulating operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop.

The explanation of the loop job task list is described above, and is not described herein again.

The task execution module 320 is capable of adjusting the loading job position and/or the unloading job position in the job task in real time without depending on the scheduling of the scheduling platform in the process of executing the job task in the circular job task list circularly.

In this embodiment, the unmanned vehicle may sequentially select the loading work stations in accordance with the order of the loading work stations in the loading area, and sequentially select the unloading work stations in accordance with the order of the unloading work stations in the unloading area. Alternatively, the unmanned vehicle may acquire vehicle-end information, and select the loading work location and the unloading work location based on the vehicle-end information.

The vehicle-side information here includes at least one of position information, surrounding environment information, and task completion situation information acquired by the unmanned vehicle. Correspondingly, the task execution module 320 can select the docked loading job site and the docked unloading job site based on at least one of the location information, the ambient environment information, and the task completion status information; and/or a travel path of the unmanned vehicle between the loading area and the unloading area can be planned based on at least one of the location information, the ambient environment information, and the completed task situation information.

For example, the unmanned vehicle selects a loading station or an unloading station closest to the unmanned vehicle based on the position information; or the unmanned vehicle selects a loading operation position or an unloading operation position without obstacles around based on the surrounding environment information; alternatively, the unmanned vehicle determines whether to load or unload the material based on the completion situation information, and selects a loading work location or an unloading work location.

For another example, the unmanned vehicle plans a driving path starting from the current position, having a clear road and no obstacle based on the position information, the surrounding environment information and the task completion condition information.

The task receiving module 310 can receive a new circular job task list sent by the scheduling platform, and update the original circular job task list by using the new circular job task list.

And when the unmanned vehicle receives the new circular operation task list, updating the original circular operation task list by using the new circular operation task list, and circularly executing the operation tasks in the new circular operation task list.

In an alternative embodiment, the task receiving module 310 is capable of receiving an upper limit of the number of cycles sent by the scheduling platform; the task execution module 320 may stop executing the job task when the number of times of cyclically executing the job task in the cyclic job task list reaches the upper limit of the number of times of cycles.

For example, if the upper limit of the number of cycles is 50, the unmanned vehicle stops executing the job task after executing the job task in the 50-cycle job task list.

Still include in the unmanned car: a task exit module; and the task exit module can acquire the scheduling information sent by the scheduling platform and stop executing the job tasks in the circular job task list based on the scheduling information. In this way, the unmanned vehicle can exit the circular operation task when receiving the scheduling information, so as to execute a temporary task or a single task in the following, such as vehicle receiving or refueling.

For a scene of non-circular operation (each operation task is different and can not form a circle), the mode of updating the operation circle before or after the task is finished can be degenerated into the existing single task issuing mode, and the compatibility is achieved, wherein the scene of exiting the circular operation can be automatically realized based on the monitoring of a sensor to the field or a task list.

To sum up, the unmanned vehicle provided by the embodiment of the application receives the circular operation task list at one time, so that the unmanned vehicle can adjust the loading operation position and/or the unloading operation position in the operation task in real time in the process of circularly executing the operation task in the circular operation task list without depending on the scheduling of the scheduling platform, thereby greatly reducing the network dependence, ensuring that the unmanned vehicle can continuously maintain the execution of the operation task under the condition of poor network condition or even complete network loss, and improving the continuity and the efficiency of the operation.

By receiving the circular operation task list at one time, the unmanned vehicle can circularly operate, and compared with the operation task which is sent by the scheduling platform and needs to be received every time, the communication frequency and the communication data volume can be greatly reduced.

Referring to fig. 4, a flowchart of a method for scheduling an unmanned vehicle according to an embodiment of the present application is shown, where the method for scheduling an unmanned vehicle can be applied to a scheduling platform of an unmanned vehicle. The unmanned vehicle scheduling method can comprise the following steps:

step 401, generating a circular job task list; the circulating operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop.

The explanation and generation of the task list of the circular operation are described in detail in the above description, and are not described in detail here.

In an optional embodiment, the scheduling platform can respectively predict the upper limit of the number of the operation times of the loading operation positions and the unloading operation positions, and calculate the upper limit of the cycle times based on the number of the loading operation positions in the loading area, the number of the unloading operation positions in the unloading area and the upper limit of the operation times; and sending the upper limit of the cycle times corresponding to the cycle operation task list to the unmanned vehicle so that the unmanned vehicle stops executing the operation tasks after the number of times of circularly executing the operation tasks in the cycle operation task list reaches the upper limit of the cycle times. The specific implementation manner is described in detail in the above description, and is not described in detail herein.

And 402, when a trigger instruction or preset state information reported by the unmanned vehicle, information of finishing a specified task or information of a specific position is received, sending a circular operation task list to the unmanned vehicle, wherein the unmanned vehicle can adjust a loading operation position and/or an unloading operation position in an operation task in real time without depending on the scheduling of a scheduling platform in the process of circularly executing the operation task in the circular operation task list.

In an optional embodiment, the scheduling platform sends a circular job task list to the unmanned vehicle when receiving the trigger information.

In one implementation, the trigger information is a trigger instruction. The trigger instruction may be triggered manually or sent by other scheduling platforms, and the source of the trigger instruction is not limited in this embodiment. In another implementation manner, the trigger information is preset state information reported by the unmanned vehicle, information for completing a specified task or information of a specific location where the unmanned vehicle is located.

And step 403, acquiring vehicle end information of the unmanned vehicle or platform end information of the scheduling platform, and triggering to send a new circular operation task list to the unmanned vehicle based on the vehicle end information or the platform end information.

(2) The platform side information comprises at least one of operation information of at least one unmanned vehicle, task condition information of at least one unmanned vehicle and map updating information which are counted by the dispatching platform.

The content of the scheduling platform triggering and updating the circular job task list according to the vehicle end information or the platform end information is described in detail above, and is not described here again.

In an alternative embodiment, the new looped job task list includes a new load area and/or a new unload area. When a new loading area and/or a new unloading area are/is generated, the dispatching platform can count loading operation positions needing to continue operation, and a new loading area is generated based on the loading operation positions; and counting unloading operation bits of the continuous operation, and generating a new unloading area based on the unloading operation bits.

In an alternative embodiment, the scheduling platform can send scheduling information to the unmanned vehicle to cause the unmanned vehicle to stop executing job tasks in the recurring job task list based on the scheduling information. The scheduling information may be generated by manually controlling the scheduling platform, or may be generated by the scheduling platform according to the platform side information, which is not limited in this embodiment.

In this way, the unmanned vehicle can exit the circular operation task when receiving the scheduling information, so as to execute a temporary task or a single task in the following, such as vehicle receiving or refueling.

To sum up, according to the scheduling method of the unmanned vehicle provided by the embodiment of the application, the circular operation task list comprises the operation tasks of loading materials in the loading area and the operation tasks of unloading materials in the unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop, so that the unmanned vehicle can adjust the loading operation positions and/or the unloading operation positions in the operation tasks in real time without depending on the scheduling of the scheduling platform in the process of circularly executing the operation tasks in the circular operation task list by issuing the circular operation tasks at one time, the network dependence is greatly reduced, the unmanned vehicle can continuously maintain the execution of the operation tasks under the condition of poor network condition and even completely losing the network, and the continuity and the efficiency of the operation are improved.

Referring to fig. 5, a flowchart of a method for scheduling an unmanned vehicle according to an embodiment of the present application is shown, where the method for scheduling an unmanned vehicle can be applied to an unmanned vehicle. The unmanned vehicle scheduling method can comprise the following steps:

step 501, receiving a circular job task list sent by a dispatching platform of an unmanned vehicle; the circulating operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop.

The explanation of the task list of the loop job is described above, and is not described herein again.

And 502, in the process of circularly executing the job tasks in the circular job task list, adjusting the loading job position and/or the unloading job position in the job task in real time without depending on the scheduling of a scheduling platform.

In this embodiment, the unmanned vehicle may sequentially select the loading work stations in accordance with the order of the loading work stations in the loading area, and sequentially select the unloading work stations in accordance with the order of the unloading work stations in the unloading area. Alternatively, the unmanned vehicle may acquire vehicle-end information, and select the loading work station and the unloading work station based on the vehicle-end information.

The vehicle-side information referred to herein includes at least one of position information, surrounding environment information, and task completion status information acquired by the unmanned vehicle.

And 503, receiving a new circular job task list sent by the scheduling platform, and updating the original circular job task list by using the new circular job task list.

In an optional embodiment, the unmanned vehicle can receive the upper limit of the cycle times sent by the dispatching platform; and stopping executing the job task after the number of times of circularly executing the job task in the circular job task list reaches the upper limit of the circular number.

In another optional embodiment, the unmanned vehicle can also acquire scheduling information sent by the scheduling platform, and stop executing the job tasks in the circular job task list based on the scheduling information. In this way, the unmanned vehicle can exit the loop job task upon receiving the scheduling information to perform a temporary task or a single task, such as, for example, vehicle pickup or refueling.

To sum up, the unmanned vehicle scheduling method provided by the embodiment of the application receives the circular operation task list at one time, so that the unmanned vehicle can adjust the loading operation position and/or the unloading operation position in the operation task in real time without depending on the scheduling of the scheduling platform in the process of circularly executing the operation task in the circular operation task list, thereby greatly reducing the network dependence, ensuring that the unmanned vehicle can continuously maintain the execution of the operation task under the condition of poor network condition and even complete network loss, and improving the continuity and efficiency of the operation.

By receiving the circular operation task list at one time, the unmanned vehicle can circularly operate, and compared with the operation task which needs to be received by the scheduling platform every time the operation is performed, the communication frequency and the communication data volume can be greatly reduced.

One embodiment of the present application provides a computer-readable storage medium having at least one instruction stored therein, the at least one instruction being loaded and executed by a processor to implement the method for scheduling unmanned vehicles as described above.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is not intended to limit the embodiments of the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims

1. A dispatch platform for an unmanned vehicle, comprising: the system comprises a task construction module, a task issuing module and a task updating module;

the task construction module can generate a circular operation task list; the circular operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

the task updating module can acquire vehicle end information of the unmanned vehicle or platform end information of the scheduling platform, and triggers the task sending part to send a new circular operation task list to the unmanned vehicle based on the vehicle end information or the platform end information.

2. The unmanned aerial vehicle dispatch platform of claim 1,

the task construction module can respectively estimate the upper limit of the operation times of the loading operation positions and the unloading operation positions, and calculate the upper limit of the cycle times based on the number of the loading operation positions in the loading area, the number of the unloading operation positions in the unloading area and the upper limit of the operation times;

3. The unmanned aerial vehicle dispatching platform of claim 1 or 2, wherein the vehicle-side information comprises at least one of location information, fault information, surrounding environment information, network condition information of a located area, and task completion condition information acquired by the unmanned aerial vehicle.

4. The unmanned vehicle dispatching platform of claim 1 or 2, wherein the platform side information comprises at least one of operation information of at least one unmanned vehicle, task situation information of at least one unmanned vehicle and map update information counted by the dispatching platform.

5. The unmanned aerial vehicle dispatch platform of claim 1, wherein the new recurring job task list comprises new load areas and/or new unload areas.

6. The unmanned vehicle dispatch platform of claim 1, further comprising: a task exit module;

7. An unmanned vehicle, comprising: the system comprises a task receiving module and a task executing module;

the task receiving module can receive a circular operation task list sent by a dispatching platform of the unmanned vehicle; the circulating operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

8. The unmanned vehicle of claim 7,

the task receiving module can receive the upper limit of the cycle times sent by the scheduling platform;

9. The unmanned vehicle of claim 7 or 8, further comprising: a task exit module;

and the task exit module can acquire the scheduling information sent by the scheduling platform and stop executing the job tasks in the circular job task list based on the scheduling information.

10. A method of scheduling an unmanned vehicle, the method comprising:

generating a circular operation task list; the circulating operation task list comprises operation tasks for loading materials in a loading area and operation tasks for unloading the materials in an unloading area, the loading area comprises at least two loading operation positions for the unmanned vehicle to stop, and the unloading area comprises at least two unloading operation positions for the unmanned vehicle to stop;

11. A method of scheduling an unmanned vehicle, the method comprising:

12. A computer-readable storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the method of scheduling unmanned vehicles of claim 10 or 11.