Method, device, electronic equipment and storage medium for scheduling vehicle

Abstract

Embodiments of the present application disclose a method and device for scheduling vehicles, electronic equipment and a storage medium. The method comprises: upon receiving a vehicle scheduling signal, determining the vehicle positions of vehicles to be scheduled in each storage area and the total number of vehicles to be scheduled; if the total number of vehicles to be scheduled in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, determining the target storage positions of each vehicle to be scheduled in the current storage area according to a pre-set first objective function and a first constraint condition, and controlling the corresponding vehicle to be scheduled to travel to the target storage position. The technical solution of the embodiments of the present application can control each vehicle to travel to a relatively safe area when an emergency such as a fire occurs, not only protecting the transport vehicle and other equipment, but also avoiding further expansion of the fire range, thereby improving the safety of the warehouse production environment.

Description

Technical Field

[0001] The present invention relates to the field of unmanned vehicle technology, and in particular to a method, apparatus, electronic device and storage medium for scheduling vehicles. Background Technology

[0002] The goal is to utilize various equipment, such as Automated Guided Vehicles (AGVs), to assist production in warehousing and production environments. At the same time, as the scale of investment in automation equipment increases and logistics and warehousing scenarios become more complex, fire safety issues in the production process are becoming increasingly important.

[0003] When implementing this technical solution based on the above method, the inventors discovered the following problems:

[0004] When a fire occurs in a logistics and warehousing environment, AGVs and other equipment will automatically shut off their power and stop moving. However, the transport vehicles themselves also carry batteries and may be carrying goods. Therefore, if the vehicle's stopping position is close to the fire source in the warehousing environment, the goods carried by the vehicle and the batteries it carries may be ignited. This will not only damage the equipment but also cause the fire to spread further. Therefore, in the solutions provided by existing technologies, AGVs and other equipment have poor response capabilities to emergencies, and there are safety hazards in logistics and warehousing areas. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for dispatching vehicles. In the event of an emergency (such as a fire), the system can control each vehicle to travel to a relatively safe area, which not only protects transport vehicles and other equipment but also prevents the fire from spreading further and improves the safety of the warehousing and production environment.

[0006] In a first aspect, embodiments of the present invention provide a method for dispatching vehicles, the method comprising:

[0007] Upon receiving a vehicle dispatch signal, determine the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

[0008] If the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold corresponding to the current storage area, then the target storage location of each vehicle to be dispatched in the current storage area is determined according to the preset first objective function and first constraint conditions, and the corresponding vehicle to be dispatched is controlled to drive to the target storage location.

[0009] The first objective function is determined based on the vehicle location, the storage location information, and the storage location information of the vehicle to be dispatched from the vehicle location to the corresponding storage location. The first constraint condition includes that each storage location stores one vehicle to be dispatched.

[0010] Furthermore, the method for dispatching vehicles also includes:

[0011] When the monitored data collected by at least one sensor meets the preset alarm signal, the vehicle dispatch signal is generated and sent to the vehicle dispatch system, so that when the vehicle dispatch system receives the vehicle dispatch signal, it can determine the vehicle location of the vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

[0012] Furthermore, the step of determining the target storage location for each vehicle to be dispatched in the current storage area based on a pre-set first objective function and first constraints, and controlling the corresponding vehicle to be dispatched to travel to the target storage location, includes:

[0013] Based on the first objective function, the time information of each vehicle to be dispatched traveling to each storage location in the current storage area is determined respectively;

[0014] Under the condition that the first constraint is met, at least one total driving time information to be selected is determined based on each duration information.

[0015] Based on at least one candidate total duration information, determine the target total duration information, and determine the target storage location for each vehicle to be scheduled corresponding to the target total duration information.

[0016] Furthermore, the step of determining the time information for each vehicle to be dispatched to travel to each storage location in the current storage area based on the first objective function includes:

[0017] For each vehicle to be dispatched, at least one driving path is determined based on the vehicle's current location and the storage location information of each storage location; wherein, the driving path information includes the number of turns, the number of waiting times, and the distance from the vehicle's location to the corresponding storage location.

[0018] Based on the at least one travel path information, determine the time information of the current vehicle to be dispatched from the vehicle location to the corresponding storage location;

[0019] The amount of duration information is consistent with the number of storage bits in the current storage area.

[0020] Furthermore, the method for dispatching vehicles also includes:

[0021] If the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold, then at least two associated storage areas associated with the current storage area are determined, as well as the target dispatch vehicles to be dispatched to the at least two associated storage areas.

[0022] The target dispatch vehicle is controlled to travel from the current storage area to the corresponding associated storage area, so that when the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold, the target storage location of each vehicle to be dispatched in the current storage area is determined according to the first objective function and the first constraint condition.

[0023] Furthermore, determining at least two associated storage areas related to the current storage area, and the target dispatch vehicles dispatched to the at least two associated storage areas, includes:

[0024] Based on the current storage area's location information, determine at least two associated storage areas related to the current storage area, as well as the roller shutter door location information and preset temporary storage threshold of each associated storage area;

[0025] Based on the vehicle location of each vehicle to be dispatched in the current storage area, the location information of the roller shutter door, and the preset closing time corresponding to each roller shutter door, determine the vehicles to be dispatched through the corresponding roller shutter door, and the first dispatch quantity.

[0026] Based on the total number of vehicles to be dispatched in each associated storage area, the preset temporary storage threshold, and the first dispatch quantity, target dispatch vehicles to be dispatched to the at least two associated storage areas are determined from the vehicles to be dispatched.

[0027] Furthermore, determining the vehicles to be dispatched through the corresponding roller shutter door and the first dispatch quantity based on the vehicle location of each vehicle to be dispatched in the current storage area, the location information of the roller shutter door, and the preset closing time corresponding to each roller shutter door includes:

[0028] For each vehicle to be dispatched, the waiting time to pass through the corresponding roller shutter is determined based on the current vehicle location and the roller shutter door location information of at least two related storage areas.

[0029] If the waiting time is less than the preset closing time of the corresponding roller shutter door, then the vehicle currently to be dispatched is determined to be the vehicle to be dispatched.

[0030] The vehicles to be dispatched are bound to the corresponding roller shutters, and the number of vehicles passing through the roller shutters is accumulated to update the first dispatch quantity corresponding to the roller shutters.

[0031] Furthermore, determining the waiting time for passing through the corresponding roller shutter door based on the current vehicle location of the vehicle to be dispatched and the roller shutter door location information of at least two associated storage areas includes:

[0032] Based on the current vehicle location and the location information of each roller shutter door, the passage parameters corresponding to each roller shutter door are determined; wherein, the passage parameters include first distance information, first number of turns, and first number of queues;

[0033] Based on the first distance information, vehicle speed, number of first turns, turn time, number of first queues, and queue time, the waiting time for the currently scheduled vehicle to pass through the corresponding roller shutter is determined.

[0034] Furthermore, the step of determining the target dispatch vehicles to be dispatched to the at least two associated storage areas from the vehicles waiting to pass through, based on the total number of vehicles to be dispatched in each associated storage area, the preset temporary storage threshold, and the first dispatch quantity, includes:

[0035] Based on the total number of dispatched vehicles in each associated storage area, the corresponding first dispatch quantity, and the preset temporary storage threshold, the target dispatch quantity from the current storage area to each associated storage area is determined.

[0036] The vehicles to be dispatched corresponding to the target dispatch quantity are determined from the vehicles to be dispatched that are bound to each roller shutter door, and are then designated as the target dispatch vehicles.

[0037] Furthermore, the method for dispatching vehicles also includes:

[0038] If the vehicle to be dispatched is located at a position corresponding to the roller shutter door position information, then the storage area to which the vehicle to be dispatched belongs and the target storage location in that storage area are determined based on the total number of vehicles to be dispatched in the two storage areas associated with the roller shutter door position information.

[0039] Secondly, embodiments of the present invention also provide a vehicle dispatching device, the device comprising:

[0040] The vehicle to be dispatched determination module is used to determine the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched when a vehicle dispatch signal is received.

[0041] The vehicle control module is used to determine the target storage location of each vehicle to be dispatched in the current storage area if the total number of vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, based on a preset first objective function and a first constraint condition, and to control the corresponding vehicles to be dispatched to travel to the target storage location; wherein, the first objective function is determined based on the vehicle location, the storage location information of the storage location, and the storage location information of the vehicles to be dispatched traveling from the vehicle location to the corresponding storage location, and the first constraint condition includes storing one vehicle to be dispatched in each storage location.

[0042] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0043] One or more processors;

[0044] Storage device for storing one or more programs.

[0045] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for scheduling vehicles as described in any embodiment of the present invention.

[0046] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a method for scheduling vehicles as described in any of the embodiments of the present invention.

[0047] The technical solution of this invention, upon receiving a vehicle dispatch signal, determines the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched. Furthermore, if the total number of vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, then, based on a pre-set first objective function and first constraint condition, the target storage location of each vehicle to be dispatched in the current storage area is determined, and the corresponding vehicle to be dispatched is controlled to travel to the target storage location. In the event of an emergency (such as a fire), automatic dispatching of vehicles within the warehousing and production environment is achieved, thereby controlling each vehicle to travel to a relatively safe area. This not only protects equipment such as transport vehicles but also prevents the fire from spreading further, thus improving the safety of the warehousing and production environment. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of exemplary embodiments of the present invention, the accompanying drawings used in describing the embodiments are briefly introduced below. Obviously, the accompanying drawings described are only a portion of the drawings of the embodiments to be described in this invention, and not all of the drawings. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0049] Figure 1 This is a flowchart illustrating a method for scheduling vehicles according to an embodiment of the present invention.

[0050] Figure 2 This is a plan view of the logistics warehousing area provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram showing the distribution and arrangement of storage locations within fire safety zones in each storage area, as provided in an embodiment of the present invention.

[0052] Figure 4 This is a schematic diagram of a vehicle dispatching method provided in an embodiment of the present invention;

[0053] Figure 5 This is a flowchart illustrating a method for scheduling vehicles according to an embodiment of the present invention.

[0054] Figure 6This is a schematic diagram illustrating the vehicle dispatch flow between different storage areas provided in an embodiment of the present invention;

[0055] Figure 7 This is a structural block diagram of a vehicle dispatching device provided in an embodiment of the present invention;

[0056] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0058] Figure 1 This is a flowchart illustrating a method for dispatching vehicles according to an embodiment of the present invention. This embodiment is applicable to situations where vehicles in various storage areas are automatically dispatched when an emergency occurs in a storage area (such as a fire). The method can be executed by a vehicle dispatching device, which can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal, a PC, or a server.

[0059] To clearly understand the technical solutions of the embodiments of the present invention, one can first combine them with... Figure 2 The applicable warehousing areas and application scenarios for this proposal are illustrated by example.

[0060] In this embodiment, the storage area can be pre-divided into one or more storage zones, such as... Figure 2 The storage areas shown are designated 1, 2, 3, and 4. Each storage area can be further divided into grids for storing goods. Once the storage areas and grids within each area are defined, automated equipment such as transport vehicles (AGVs) can be deployed within each storage area to perform cargo handling. After receiving a handling task from the system, the transport vehicle can travel along the corresponding path within the storage area to move the goods to the designated grid. Understandably, this environment places high demands on fire safety and vehicle dispatching systems.

[0061] During the process of a large number of transport vehicles performing handling operations within the storage area, in order to enhance the storage area's ability to respond to fires, on the one hand, it is necessary to pre-plan AGV safety fire prevention zones within each storage area, such as... Figure 2The four AGV safety fireproof zones shown are spaced a certain distance from the storage grid within the storage area. Furthermore, each safety fireproof zone is divided into multiple storage locations, with one AGV accommodating each location. It is understood that in the event of a fire, if the vehicle dispatching system, based on the solution described in this embodiment, controls the vehicles to travel to the storage locations within the safety fireproof zones, vehicle damage and further fire spread can be largely prevented.

[0062] On the other hand, fire-fighting roller shutters are also installed between the various storage areas, such as... Figure 2 As shown, fire-fighting roller shutters are installed between storage area 1 and storage area 2, and also between storage area 1 and storage area 4. When a fire occurs, the fire-fighting roller shutters will gradually descend until they are completely closed, thereby isolating the storage areas. It can also be understood that if there are too many vehicles in a certain storage area before the roller shutters are completely closed, making it impossible for them all to move to the safe fire prevention area of ​​the current storage area, some of the vehicles can be controlled to move to the safe fire prevention area of ​​other storage areas through the fire-fighting roller shutters according to the scheme of this embodiment. This method can also achieve the effect of avoiding vehicle damage and fire spread.

[0063] like Figure 1 As shown, the method specifically includes the following steps:

[0064] S110. Upon receiving a vehicle dispatch signal, determine the location of the vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

[0065] The vehicles within the storage area can be Automated Guided Vehicles (AGVs) used for cargo transportation or transfer. These vehicles are suitable for situations where cargo loading and unloading locations frequently change. They can be equipped with wired / wireless communication devices, positioning devices, and electromagnetic or optical automatic navigation devices, enabling them to travel along a predetermined navigation path. In this embodiment, the AGV vehicles within the storage area are the vehicles to be dispatched.

[0066] In this embodiment, a vehicle dispatching system for controlling the movement of vehicles in each storage area can be pre-built. Correspondingly, the vehicle dispatching signal is the control signal issued by the system to each vehicle when a fire is detected in one or more storage areas. It can be understood that in the event of a fire, the vehicle dispatching signal is at least used to redetermine the driving path of each vehicle.

[0067] In this embodiment, upon receiving a vehicle dispatch signal, it indicates a fire has occurred within the storage area. At this time, the vehicle dispatch system first needs to simultaneously or sequentially determine the number of AGVs in each storage area, i.e., the total number of vehicles to be dispatched. Simultaneously, in order to control each vehicle to its specific storage location in subsequent processes, the vehicle dispatch system also needs to determine the current position of each AGV, i.e., the vehicle position of the vehicle to be dispatched. Figure 2 For example, when a vehicle dispatch signal is received, the vehicle dispatch system needs to determine the total number of vehicles to be dispatched in storage area 1, storage area 2, storage area 3 and storage area 4 respectively. At the same time, it also needs to determine the coordinates of these AGVs to clarify the current location of these transport vehicles in their respective storage areas.

[0068] Optionally, when the monitored data collected by at least one sensor meets the preset alarm signal, a vehicle dispatch signal is generated and sent to the vehicle dispatch system, so that when the vehicle dispatch system receives the vehicle dispatch signal, it can determine the vehicle location of the vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

[0069] At least one sensor can be a fire alarm sensor or smoke detector pre-installed in the storage area. These sensors can be installed at certain distance intervals. Correspondingly, the data to be monitored is the data collected by the sensors in real time. For example, for a smoke detector, the collected data is the smoke concentration signal of the scene at the current moment. Those skilled in the art should understand that in practical applications, when the sensors installed in different storage areas are different, the types of data to be monitored by the device and the corresponding alarm signal types will also differ. This will not be elaborated further in the embodiments disclosed herein.

[0070] Furthermore, alarm signals can be pre-set based on the data collected by the sensors. When the data collected by the sensors meets the alarm signal requirements, a vehicle dispatch signal is generated and sent to the vehicle dispatch system. Figure 2 For example, ten smoke sensors can be installed at certain intervals in storage area 1. When the smoke concentration collected in real time by any one or more of them exceeds the preset concentration value, a vehicle dispatch signal can be generated and transmitted to the vehicle dispatch system.

[0071] In this embodiment, after receiving a vehicle dispatch signal, the vehicle dispatch system needs to control each vehicle to move to a pre-planned safe and fire-prevention zone within each storage area. Specifically, before issuing corresponding control commands to each vehicle, the vehicle dispatch system first needs to collect relevant information about the vehicles within the storage area, that is, determine the vehicle location and the total number of vehicles to be dispatched in each storage area. The vehicle location can be the coordinate value of each vehicle in a pre-constructed two-dimensional plane coordinate system or a three-dimensional space coordinate system corresponding to the storage area.

[0072] Continue with Figure 2 For example, when the vehicle dispatching system receives a vehicle dispatching signal, it first needs to determine the number of vehicles in the four storage areas at the current time. For instance, there are 6 AGVs in storage area 1, 16 AGVs in storage area 2, 8 AGVs in storage area 3, and no AGVs in storage area 4. Simultaneously, it also needs to determine the coordinates of the aforementioned 30 transport vehicles in the corresponding two-dimensional coordinate system of the storage area. Those skilled in the art should understand that before the transport vehicles are put into use, corresponding identifiers can be pre-assigned to each transport vehicle. Furthermore, in the data storage space corresponding to the vehicle dispatching system, the determined coordinate values ​​of each vehicle are also associated with the corresponding vehicle identifier, thereby facilitating the system's differentiation and control of each vehicle. This will not be elaborated further in the embodiments disclosed herein.

[0073] S120. If the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold corresponding to the current storage area, then the target storage location of each vehicle to be dispatched in the current storage area is determined according to the preset first objective function and first constraint conditions, and the corresponding vehicle to be dispatched is controlled to drive to the target storage location.

[0074] It should be noted that one or more storage areas can be pre-divided within the logistics warehousing area. When there are multiple storage areas, in order to clearly illustrate the solution of this embodiment, the following description uses one storage area as an example. Those skilled in the art should understand that in actual application, the method of scheduling vehicles for other storage areas can also be executed according to the vehicle scheduling method of the example storage area.

[0075] In this embodiment, the pre-planned fire prevention zones within each storage area can accommodate a certain number of vehicles. Based on this, it can be understood that the number of vehicles that a pre-defined fire prevention zone within each storage area can accommodate is a preset temporary storage threshold. Figure 3 For example, a fire-safe zone within a storage area has 20 AGV storage locations, each with a specific location identifier. Based on this, it can be determined that the preset temporary storage threshold for this storage area is 20. When a fire occurs in the storage area, the aforementioned fire-safe zone containing 20 storage locations can accommodate a maximum of 20 transport vehicles.

[0076] In this embodiment, after the vehicle dispatching system determines the number and location of vehicles in each storage area, it also needs to determine whether the current storage area can accommodate the vehicles currently in that storage area, based on the preset temporary storage threshold. That is, it needs to determine whether the total number of vehicles to be dispatched in the current storage area is less than or equal to its preset temporary storage threshold. Furthermore, if the inequality is true, it indicates that the fire safety area of ​​the storage area can accommodate the vehicles currently in that storage area; if the inequality is false, it indicates that the fire safety area of ​​the storage area cannot accommodate the vehicles currently in that storage area. The following provides a detailed explanation of the situations where the above inequality is true.

[0077] In this embodiment, the time information of each vehicle to be dispatched traveling to each storage location in the current storage area is determined based on the first objective function; under the condition of satisfying the first constraint, at least one candidate total travel time information is determined based on each time information; based on at least one candidate total travel time information, the target total travel time information is determined, and the target storage location of each vehicle to be dispatched corresponding to the target total travel time information is determined.

[0078] The first objective function is used to determine the time required for a vehicle to travel to a specific storage location in the current storage area. Optionally, when determining the time information for each vehicle, at least one travel path can be determined for each vehicle to be dispatched, based on the vehicle's current location and the storage location information of each storage location; based on at least one travel path, the time required for the vehicle to travel from its current location to the corresponding storage location can be determined.

[0079] Specifically, the first objective function can be in, This indicates the time it takes for vehicle i, located in storage area j, to reach storage location k within the fire safety zone. The coordinate distance v from storage area j (marked as i) to storage location k within the fire safety zone. i The speed of vehicle i is represented in m / s, t1 represents the time required for the vehicle to turn in seconds, and n represents the speed of vehicle i to turn in seconds. ik1 t1 represents the number of turns required for vehicle i to reach storage space k within the fire compartment in the coordinate system. t2 represents the time, in seconds (s), for vehicle i to wait in line for other vehicles to pass before reaching the nearest fire shutter door. ik2This indicates the number of other vehicles waiting in line before vehicle i reaches storage space k within the fire-prevention zone. Therefore, it can be understood that the determined vehicle travel path information includes the number of turns, the number of waiting times, and the distance from the vehicle's location to the corresponding storage space. The number of time-related information values ​​corresponds to the number of storage spaces in the current storage area. For example, for a transport vehicle, if there are 4 storage spaces in the fire-prevention zone of the current storage area, the system can determine 4 time-related information values ​​for the vehicle, each reflecting the time required for the vehicle to reach the corresponding storage space.

[0080] In this embodiment, after the system determines the time it takes for each vehicle to travel to a storage location, in order to select the optimal vehicle scheduling strategy, a first constraint also needs to be considered: the number of vehicles to be scheduled in the current storage area must be less than or equal to the number of storage locations in the current storage area. In practical applications, the first constraint can be expressed as inequality N. j ≤Q j Let N represent this, where N is the number of digits in the original text. j Q represents the number of vehicles waiting to be dispatched in the current storage area. j This indicates the number of storage locations within the current storage area.

[0081] Understandably, under the first constraint, there are multiple sets of total driving time information to be determined. For example, when the number of vehicles is 2 and the number of storage spaces is 3, there are 6 sets of total driving time information to be determined. Furthermore, after determining multiple sets of total driving time information to be determined, it is necessary to apply the objective function... A set of information was determined as the target total duration information, where, This indicates that within storage area j, the vehicle has moved to storage location k within the fire safety zone.

[0082] In this embodiment, the advantage of determining the target total driving time information from multiple candidate total driving time information is that each vehicle can be moved to the corresponding storage location as quickly as possible, which improves the response efficiency to the fire while minimizing equipment damage and the spread of the fire.

[0083] It should be noted that once the vehicle dispatching system determines the target total duration, the corresponding storage location for each vehicle within the current storage area is also determined. This means that for each vehicle, the storage location determined by the system is the target storage location and also the endpoint of its movement path. Continuing with the above example, if there are two vehicles and three storage locations in the storage area, and during the process of determining the target total duration, the target storage location for vehicle identified as 1 is also simultaneously determined as storage location 1, and the target storage location for vehicle identified as 2 is storage location 3.

[0084] It should also be noted that if the vehicle to be dispatched is located at a position corresponding to the location information of the fire shutter door, the storage area to which the vehicle belongs and its target storage location within that area are determined based on the total number of vehicles to be dispatched in the two storage areas associated with the fire shutter door location information. This process can be understood as follows: in the event of a fire in a logistics warehouse area, there may be a situation where a vehicle is under a fire shutter door, preventing the door from closing completely. That is, the location of the vehicle to be dispatched corresponds to the location of the fire shutter door. In this case, the vehicle dispatching system needs to identify the two storage areas corresponding to the fire shutter door, and then determine the total number of vehicles to be dispatched in the two storage areas, thereby determining which storage area's location the vehicle under the fire shutter door needs to be dispatched to. Continuing with... Figure 2 For example, when a fire occurs, a transport vehicle is located under the fire-fighting roller shutter between storage area 1 and storage area 2. At the same time, it is determined that there are 6 vehicles waiting to be dispatched in storage area 1 and 0 vehicles waiting to be dispatched in storage area 2. Based on this, it can be determined that there are no extra storage spaces reserved for the transport vehicle in storage area 1. It is necessary to determine a storage space for it in the fire-prevention zone of storage area 2 and control the vehicle to move to that storage space, so as to avoid the vehicle colliding with the descending fire-fighting roller shutter and causing the roller shutter to fail to close completely.

[0085] Preferably, in practical applications, it can be based on Figure 4 The flowchart shown illustrates the method for scheduling vehicles according to an embodiment of this disclosure. The following section describes the method in conjunction with... Figure 4 Please provide an explanation.

[0086] See Figure 4 Multiple temperature and humidity sensors, smoke sensors, and other devices can be pre-installed in the logistics and warehousing area. When any one or more of these devices detect a fire signal, the system can send the acquired signal to the Warehouse Control System (WCS). Furthermore, after receiving the fire signal, the WCS can automatically trigger the fire safety dispatch system, i.e., the vehicle dispatch system mentioned above, and obtain the number and location of vehicles in each storage area.

[0087] See also Figure 4 Once the fire safety dispatch system obtains the number and location of vehicles in each storage area, it can calculate the number of vehicles that can move from the current storage area to adjacent storage areas (i.e., associated storage areas) based on the function described above. Furthermore, it determines whether the number of storage spaces in each storage area's fire safety zone meets the parking requirements for vehicles within that area. If a storage area is determined not to meet this condition, the fire safety dispatch system matches the vehicle distribution across storage areas to identify vehicles that need to be moved across storage areas. If a storage area is determined to meet this condition, the fire safety dispatch system matches vehicles within that storage area with storage spaces in its fire safety zone.

[0088] See also Figure 4 Once a vehicle in the storage area is successfully matched with a storage location within the fire safety zone, the fire safety dispatch system needs to determine whether any vehicle is located under a fire shutter door based on the vehicle's current location and the positions of the fire shutter doors. If a vehicle is located under a shutter door, the system needs to determine which storage area the vehicle can move to based on the preset temporary storage thresholds of the two storage locations corresponding to that shutter door, and then match the vehicle with a corresponding storage location within that area. If no vehicle is located under a shutter door, the fire safety dispatch system can control each vehicle to move to its corresponding storage location. Once all vehicles have reached their designated storage locations, the system can issue a power-off command to the vehicles to prevent equipment damage and further spread of the fire.

[0089] The technical solution of this embodiment, upon receiving a vehicle dispatch signal, determines the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched. Furthermore, if the total number of vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, then based on a pre-set first objective function and first constraint condition, it determines the target storage location for each vehicle to be dispatched in the current storage area and controls the corresponding vehicle to be dispatched to travel to the target storage location. In the event of an emergency (such as a fire), it realizes automatic dispatching of vehicles within the warehousing and production environment, thereby controlling each vehicle to travel to a relatively safe area. This not only protects equipment such as transport vehicles but also prevents the fire from spreading further, thus improving the safety of the warehousing and production environment.

[0090] Figure 5 This is a flowchart illustrating a method for scheduling vehicles according to an embodiment of the present invention. Based on the aforementioned embodiments, when the total number of vehicles to be scheduled in the current storage area exceeds a preset temporary storage threshold, vehicles exceeding the current storage area's preset temporary storage threshold can be scheduled to an associated storage area. This avoids the situation where the current storage area has limited storage space and cannot allocate it to a large number of AGVs. Specific implementation details can be found in the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0091] like Figure 5 As shown, the method specifically includes the following steps:

[0092] S210. Upon receiving a vehicle dispatch signal, determine the location of the vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

[0093] S220. If the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold, then determine at least two associated storage areas related to the current storage area, and the target dispatch vehicles to be dispatched to at least two associated storage areas; control the target dispatch vehicles to travel from the current storage area to the corresponding associated storage area.

[0094] The associated storage area can be one or more storage areas adjacent to the current storage area. A fire-fighting roller shutter door is installed between the current storage area and the associated storage area, allowing vehicles to move from the current storage area to the associated storage area when the fire-fighting roller shutter door is not closed. Figure 6 For example, the associated storage areas of storage area one are storage area two and storage area four. Based on this, when the fire shutter door between the storage areas is not closed, the vehicle in storage area one can move to storage area two or storage area four. Those skilled in the art should understand that the current storage area and associated storage area are relative concepts. For example, for storage area two, its associated storage areas are storage area one and storage area three. Similarly, when the fire shutter door between the storage areas is not closed, the vehicle in storage area two can move to storage area one or storage area three. The embodiments disclosed herein will not be described in detail here.

[0095] In this embodiment, if the total number of vehicles to be dispatched in the current storage area is greater than a preset temporary storage threshold, i.e., N j Q j This indicates that the system not only needs to identify the associated storage areas of the current storage area, but also needs to determine which vehicles among these vehicles need to be moved to the associated storage areas; these vehicles are the target dispatch vehicles. Optionally, based on the regional location information of the current storage area, at least two associated storage areas are identified, along with the roller shutter door location information and preset temporary storage thresholds for each associated storage area; based on the vehicle location, roller shutter door location information, and preset closing duration corresponding to each roller shutter door in the current storage area, the vehicles to be dispatched through the corresponding roller shutter door are determined, along with the first dispatch quantity; based on the total number of vehicles to be dispatched in each associated storage area, the preset temporary storage threshold, and the first dispatch quantity, the target dispatch vehicles to be dispatched to at least two associated storage areas are determined from the vehicles to be dispatched.

[0096] by Figure 2 For example, if the current storage area is storage area one, and the number of vehicles in storage area one (16) is greater than its preset temporary storage threshold of 10, the system needs to determine that storage areas two and four are adjacent to storage area one based on the corresponding positions of storage areas one, two, three, and four. These two storage areas are associated storage areas of storage area one. Simultaneously, the system can also determine the positions of the fire shutter doors between storage areas one and two, and between storage areas one and four. The preset temporary storage thresholds for storage areas two and four are both 10. Once the vehicle dispatching system determines the above information, it can determine the vehicles to be dispatched and the initial dispatch quantity based on the positions of each vehicle to be dispatched, the shutter door positions, and the shutter door closing duration. This process is explained below.

[0097] Optionally, for each vehicle to be dispatched, the waiting time for passing through the corresponding roller shutter is determined based on the vehicle's current location and the roller shutter door location information of at least two associated storage areas; if the waiting time is less than the preset closing time of the corresponding roller shutter door, the vehicle to be dispatched is determined to be a vehicle to be dispatched; the vehicle to be dispatched is bound to the corresponding roller shutter door, and the number of vehicles passing through the roller shutter door is accumulated to update the first dispatch quantity corresponding to the roller shutter door.

[0098] In this embodiment, the waiting time is the time required for a vehicle in the current storage area to move to the other side of the roller shutter door. Specifically, in determining the waiting time for passing through the corresponding roller shutter door, the passage parameters corresponding to each roller shutter door can be determined based on the vehicle position of the vehicle to be dispatched and the position information of each roller shutter door; the waiting time for the vehicle to be dispatched to pass through the corresponding roller shutter door is determined based on the first distance information, vehicle speed, first number of turns, turn time required, first number of queues, and queue time required.

[0099] The passage parameters include first distance information, first number of turns, and first number of queues. Specifically, the first distance information is the coordinate distance between the vehicle and the fire shutter door; the first number of turns is the number of turns the vehicle needs to make while passing through the fire shutter door; and the first number of queues is the number of other vehicles that need to be prioritized before passing through the fire shutter door. Based on this, when t represents the waiting time, the function for calculating the waiting time can be... in, This represents the coordinate distance from vehicle i within storage area j to the fire shutter door of the associated storage area (j+1) or associated storage area (j-1), v i The speed of vehicle i (as indicated by the symbol i) is still represented in m / s, and t1 still represents the time required for the vehicle to turn (in seconds). i1 t1 represents the number of turns required for vehicle i to reach the nearest fire shutter door, and t2 represents the time taken for vehicle i to queue and wait for other vehicles to pass before reaching the nearest fire shutter door, in seconds (s). i2 This indicates the number of vehicles, identified as i, that queue up to wait for other vehicles to pass first when they reach the nearest fire shutter door.

[0100] Continue with Figure 2For example, if the current storage area is Storage Area 1, and there are currently 16 transport vehicles in the storage area, which is greater than the preset temporary storage threshold of 10 for Storage Area 1, that is, 6 transport vehicles are waiting to be dispatched, then the system can determine the location information of these 6 vehicles waiting to be dispatched, and combine the location of the fire shutter doors between Storage Area 1 and Storage Area 2, and between Storage Area 1 and Storage Area 4, to determine which of the aforementioned fire shutter doors the 6 vehicles are closest to. Further, taking one of the 6 transport vehicles as an example, by substituting the coordinate distance between the vehicle and the nearest fire shutter door, the vehicle's speed, the number of turns required for the vehicle to pass through the fire shutter door, the time required for turning, the time the vehicle spends queuing for other vehicles to pass before reaching the nearest fire shutter door, and the number of other vehicles queuing for priority passage, into the function for calculating the waiting time, the time required for the vehicle to pass through the fire shutter door can be calculated. Similarly, the waiting time for the other five transport vehicles can be calculated in the same way, which will not be elaborated further in this embodiment.

[0101] In this embodiment, once the required waiting time is determined, the vehicles to be dispatched can be identified by comparing the time with the duration the roller shutter door has been closed. The process continues... Figure 2 For example, when it is determined that the waiting time for a transport vehicle in storage area one that needs to be dispatched to storage area two is 10 seconds, this value needs to be compared with the time required for the fire shutter door between storage area one and storage area two to fully close from the start of its descent. If the fire shutter door takes 15 seconds to fully close, it can be determined that the vehicle can move into storage area two before the shutter door closes, and this vehicle is a vehicle waiting to be dispatched. It can be understood that if the fire shutter door takes 8 seconds to fully close, it can be determined that the vehicle cannot move into storage area two before the shutter door closes, and this vehicle cannot be a vehicle waiting to be dispatched for storage area two. It is also necessary to determine whether it can be a vehicle waiting to be dispatched for storage area four, following the method described in this embodiment.

[0102] In this embodiment, if there are multiple vehicles waiting to be dispatched in the current storage area, for any associated storage area and the current storage area, the number of vehicles passing through the fire shutter door needs to be accumulated and updated during the process of determining the vehicles to be dispatched. After determining whether the total number of vehicles waiting to be dispatched in the current storage area is the vehicle to be dispatched, the accumulated value corresponding to the fire shutter door between each associated storage area and the current storage area is the first dispatch quantity. Continuing with the above example, storage area one is the current storage area, and its total number of vehicles waiting to be dispatched is 6. When it is determined that 4 vehicles need to be dispatched to storage area two and 2 vehicles need to be dispatched to storage area four, the first dispatch quantity for the fire shutter door between storage area one and storage area two is 4, and the first dispatch quantity for the fire shutter door between storage area one and storage area four is 2.

[0103] Optionally, after determining the first dispatch quantity, the target dispatch vehicles to at least two related storage areas can be determined from the vehicles to be dispatched, based on the total number of vehicles to be dispatched in each associated storage area, the preset temporary storage threshold, and the first dispatch quantity.

[0104] Specifically, based on the total number of dispatched vehicles in each associated storage area, the corresponding first dispatch quantity, and the preset temporary storage threshold, the target dispatch quantity from the current storage area to each associated storage area is determined; and the vehicles waiting to pass through, which are bound to each roller shutter door, are identified as the target dispatch vehicles. For example, with N... j This indicates the number of vehicles currently in the storage area. This indicates the number of vehicles that need to be moved to storage area (j-1), i.e., the target number of vehicles to be dispatched to storage area (j-1). This represents the number of vehicles that need to be moved to storage area (j+1), i.e., the target dispatch vehicles for storage area (j+1). Based on this, when N j Q j At this point, it is necessary to dispatch vehicles exceeding the preset temporary storage threshold for the current storage area to the associated storage area. Simultaneously, the following constraints must be met during the process of determining the target dispatch vehicles: The first constraint states that for an adjacent storage area (j-1), the number of vehicles moving across storage areas to that area within time t cannot exceed the total number of storage spaces in the fire-resistant zone of that area. Similarly, the second constraint states that for an adjacent storage area (j+1), the number of vehicles moving across storage areas to that area within time t also cannot exceed the total number of storage spaces in the fire-resistant zone of that area. Those skilled in the art should understand that in practical applications, even if there are sufficient storage spaces within the safety protection area of ​​the associated storage area, if one or more AGVs have been identified as vehicles to be dispatched within the current storage area, and N... j Subtracting the number of these vehicles satisfies N j =Q j At that time, there is no need to continue to determine other vehicles that need to be dispatched to other storage areas.

[0105] S230. When the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold, the target storage location of each vehicle to be dispatched in the current storage area is determined according to the first objective function and the first constraint condition.

[0106] In this embodiment, when the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold, the vehicle dispatching method described in the above embodiment can be used to control the AGVs in each storage area to travel to the corresponding storage location. This embodiment will not be described in detail here.

[0107] The technical solution of this embodiment, when the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold, can dispatch vehicles exceeding the preset temporary storage threshold of the current storage area to an associated storage area. That is to say, according to the corresponding objective function and constraints, target storage locations are determined for these transport vehicles in the associated storage area, and the vehicles are controlled to drive to the target storage locations. This avoids the situation where the storage space in the current storage area is limited and cannot be allocated to a large number of AGVs, thus protecting transport vehicles and other equipment, preventing the fire from spreading further, and improving the safety of the warehousing production environment.

[0108] Figure 7 This is a structural block diagram of a vehicle dispatching device provided in an embodiment of the present invention. It can execute the vehicle dispatching method provided in any embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects for executing the method. For example... Figure 7 As shown, the device specifically includes: a vehicle to be dispatched determination module 310 and a vehicle to be dispatched control module 320.

[0109] The vehicle to be dispatched determination module 310 is used to determine the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched when a vehicle dispatch signal is received.

[0110] The vehicle control module 320 is used to determine the target storage location of each vehicle to be dispatched in the current storage area if the total number of vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, and to control the corresponding vehicles to be dispatched to travel to the target storage location. The first objective function is determined based on the vehicle location, the storage location information of the storage location, and the storage location information of the vehicles to be dispatched from the vehicle location to the corresponding storage location. The first constraint includes storing one vehicle to be dispatched in each storage location.

[0111] Based on the above technical solutions, the vehicle dispatching device also includes a dispatching signal generation module.

[0112] The dispatch signal generation module is used to generate the vehicle dispatch signal and send it to the vehicle dispatch system when the monitored data collected by at least one sensor meets the preset alarm signal. This enables the vehicle dispatch system to determine the vehicle location and the total number of vehicles to be dispatched in each storage area when it receives the vehicle dispatch signal.

[0113] Based on the above technical solutions, the vehicle control module 320 to be dispatched includes a duration information determination unit, a total driving duration information to be selected, and a target total duration information determination unit.

[0114] The duration information determination unit is used to determine the duration information of each vehicle to be dispatched traveling to each storage location in the current storage area based on the first objective function.

[0115] The total driving time information to be selected is used to determine at least one total driving time information to be selected based on each time information, provided that the first constraint condition is met.

[0116] The target total duration information determination unit is used to determine the target total duration information based on at least one candidate total duration information, and to determine the target storage location for each vehicle to be dispatched corresponding to the target total duration information.

[0117] Optionally, the duration information determination unit is further configured to determine at least one travel path information for each vehicle to be dispatched, based on the vehicle location of the current vehicle to be dispatched and the storage location information of each storage location; wherein the travel path information includes the number of turns, the number of waiting times, and the distance information from the vehicle location to the corresponding storage location; and determine the duration information of the current vehicle to be dispatched traveling from the vehicle location to the corresponding storage location based on the at least one travel path information; wherein the number of duration information is consistent with the number of storage locations in the current storage area.

[0118] Based on the above technical solutions, the vehicle dispatching device also includes an associated storage area determination module and a target storage location determination module.

[0119] The associated storage area determination module is used to determine at least two associated storage areas associated with the current storage area and the target dispatch vehicles to be dispatched to the at least two associated storage areas if the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold.

[0120] The target storage location determination module is used to control the target dispatch vehicle to travel from the current storage area to the corresponding associated storage area, so as to determine the target storage location of each vehicle to be dispatched in the current storage area according to the first objective function and the first constraint condition when the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold.

[0121] Based on the above technical solutions, the associated storage area determination module includes an associated storage area determination unit, a dispatch vehicle determination unit, and a target dispatch vehicle determination unit.

[0122] The associated storage area determination unit is used to determine at least two associated storage areas associated with the current storage area based on the regional location information of the current storage area, as well as the roller shutter door location information and preset temporary storage threshold of each associated storage area.

[0123] The vehicle dispatching unit is used to determine the vehicles to be dispatched through the corresponding roller shutter door and the first dispatching quantity based on the vehicle location of each vehicle to be dispatched in the current storage area, the location information of the roller shutter door, and the preset closing time corresponding to each roller shutter door.

[0124] The target dispatch vehicle determination unit is used to determine the target dispatch vehicles to be dispatched to the at least two associated storage areas from the vehicles to be dispatched, based on the total number of vehicles to be dispatched in each associated storage area, a preset temporary storage threshold, and a first dispatch quantity.

[0125] Optionally, the vehicle dispatching unit is further configured to, for each vehicle to be dispatched, determine the waiting time for passing through the corresponding roller shutter based on the current vehicle location and the roller shutter location information of at least two associated storage areas; if the waiting time is less than the preset closing time of the corresponding roller shutter, then determine the current vehicle to be dispatched as the vehicle to be dispatched; bind the vehicle to be dispatched to the corresponding roller shutter, and accumulate the number of vehicles passing through the roller shutter to update the first dispatching quantity corresponding to the roller shutter.

[0126] Optionally, the vehicle dispatching unit is further configured to determine the passage parameters corresponding to each roller shutter door based on the vehicle location of the currently dispatched vehicle and the location information of each roller shutter door; wherein the passage parameters include first distance information, first number of turns, and first number of queues; and based on the first distance information, vehicle speed, first number of turns, turn time, first number of queues, and queue time, determine the waiting time required for the currently dispatched vehicle to pass through the corresponding roller shutter door.

[0127] Optionally, the target dispatch vehicle determination unit is further configured to determine the target dispatch quantity from the current storage area to each associated storage area based on the total number of dispatch vehicles in each associated storage area, the corresponding first dispatch quantity, and the preset temporary storage threshold; and to determine the vehicles to be dispatched corresponding to the target dispatch quantity from the vehicles to be dispatched bound to each roller shutter door, and use them as the target dispatch vehicles.

[0128] Based on the above technical solutions, the vehicle dispatching device also includes a module for determining the storage area to which the vehicle to be dispatched belongs.

[0129] The module for determining the storage area to which a vehicle to be dispatched belongs is used to determine the storage area to which the vehicle to be dispatched belongs and the target storage location in the storage area if the vehicle to be dispatched is located at a position corresponding to the position information of the roller shutter door, based on the total number of vehicles to be dispatched in the two storage areas associated with the position information of the roller shutter door.

[0130] The technical solution provided in this embodiment, upon receiving a vehicle dispatch signal, determines the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched. Furthermore, if the total number of vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, then, based on a pre-set first objective function and first constraint condition, it determines the target storage location for each vehicle to be dispatched in the current storage area and controls the corresponding vehicle to be dispatched to travel to the target storage location. In the event of an emergency (such as a fire), it realizes automatic dispatching of vehicles within the warehousing and production environment, thereby controlling each vehicle to travel to a relatively safe area. This not only protects equipment such as transport vehicles but also prevents the fire from spreading further, thus improving the safety of the warehousing and production environment.

[0131] The vehicle dispatching device provided in this embodiment of the invention can execute the vehicle dispatching method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0132] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0133] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 8 A block diagram is shown of an exemplary electronic device 40 suitable for implementing embodiments of the present invention. Figure 8 The electronic device 40 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0134] like Figure 8 As shown, electronic device 40 is represented in the form of a general-purpose computing device. The components of electronic device 40 may include, but are not limited to: one or more processors or processing units 401, system memory 402, and bus 403 connecting different system components (including system memory 402 and processing unit 401).

[0135] Bus 403 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0136] Electronic device 40 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 40, including volatile and non-volatile media, removable and non-removable media.

[0137] System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and / or cache memory 405. Electronic device 40 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 406 may be used to read and write non-removable, non-volatile magnetic media (… Figure 8 Not shown; usually referred to as a "hard drive"). Although Figure 8 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 403 via one or more data media interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0138] A program / utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402. Such program modules 407 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 407 typically perform the functions and / or methods described in the embodiments of the present invention.

[0139] Electronic device 40 can also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), and with one or more devices that enable a user to interact with the electronic device 40, and / or with any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 411. Furthermore, electronic device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 412. As shown, network adapter 412 communicates with other modules of electronic device 40 via bus 403. It should be understood that, although... Figure 8Not shown, other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0140] The processing unit 401 executes various functional applications and data processing by running programs stored in the system memory 402, such as implementing the vehicle dispatching method provided in the embodiments of the present invention.

[0141] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a method for scheduling vehicles.

[0142] The method includes:

[0143] Upon receiving a vehicle dispatch signal, determine the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

[0144] If the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold corresponding to the current storage area, then the target storage location of each vehicle to be dispatched in the current storage area is determined according to the preset first objective function and first constraint conditions, and the corresponding vehicle to be dispatched is controlled to drive to the target storage location.

[0145] The first objective function is determined based on the vehicle location, the storage location information, and the storage location information of the vehicle to be dispatched from the vehicle location to the corresponding storage location. The first constraint condition includes that each storage location stores one vehicle to be dispatched.

[0146] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0147] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable project code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0148] The project code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0149] Computer project code for performing the operations of embodiments of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The project code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0150] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for dispatching vehicles, characterized in that, include: Upon receiving a vehicle dispatch signal, the system determines the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched. The vehicle dispatch signal is a control signal issued by the system to each vehicle when a fire is detected in one or more storage areas. If the total number of vehicles to be dispatched in the current storage area is less than or equal to the preset temporary storage threshold corresponding to the current storage area, then the target storage location of each vehicle to be dispatched in the current storage area is determined according to the preset first objective function and first constraint conditions, and the corresponding vehicle to be dispatched is controlled to drive to the target storage location. If the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold, then at least two associated storage areas related to the current storage area are determined, and target dispatch vehicles are dispatched to the at least two associated storage areas. The target dispatch vehicles are then controlled to travel from the current storage area to the corresponding associated storage area. The associated storage area is a storage area adjacent to the current storage area. The first objective function is determined based on the vehicle location, the storage location information, and the storage location information of the vehicle to be dispatched from the vehicle location to the corresponding storage location. The first constraint condition includes that each storage location stores one vehicle to be dispatched.

2. The method according to claim 1, characterized in that, Also includes: When the monitored data collected by at least one sensor meets the preset alarm signal, the vehicle dispatch signal is generated and sent to the vehicle dispatch system, so that when the vehicle dispatch system receives the vehicle dispatch signal, it can determine the vehicle location of the vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched.

3. The method according to claim 1, characterized in that, The step of determining the target storage location for each vehicle to be dispatched in the current storage area based on a pre-set first objective function and first constraints, and controlling the corresponding vehicle to be dispatched to travel to the target storage location, includes: Based on the first objective function, the time information of each vehicle to be dispatched traveling to each storage location in the current storage area is determined respectively; Under the condition that the first constraint is met, at least one total driving time information to be selected is determined based on each duration information. Based on at least one candidate total duration information, determine the target total duration information, and determine the target storage location for each vehicle to be scheduled corresponding to the target total duration information.

4. The method according to claim 3, characterized in that, The process of determining the time taken for each vehicle to travel to each storage location in the current storage area based on the first objective function includes: For each vehicle to be dispatched, at least one driving path is determined based on the vehicle's current location and the storage location information of each storage location; wherein, the driving path information includes the number of turns, the number of waiting times, and the distance from the vehicle's location to the corresponding storage location. Based on the at least one travel path information, determine the time information of the current vehicle to be dispatched from the vehicle location to the corresponding storage location; The amount of duration information is consistent with the number of storage bits in the current storage area.

5. The method according to claim 1, characterized in that, The step of determining at least two associated storage areas related to the current storage area, and the target dispatch vehicle to be dispatched to the at least two associated storage areas, includes: Based on the current storage area's location information, determine at least two associated storage areas related to the current storage area, as well as the roller shutter door location information and preset temporary storage threshold of each associated storage area; Based on the vehicle location of each vehicle to be dispatched in the current storage area, the location information of the roller shutter door, and the preset closing time corresponding to each roller shutter door, determine the vehicles to be dispatched through the corresponding roller shutter door, and the first dispatch quantity. Based on the total number of vehicles to be dispatched in each associated storage area, the preset temporary storage threshold, and the first dispatch quantity, target dispatch vehicles to be dispatched to the at least two associated storage areas are determined from the vehicles to be dispatched.

6. The method according to claim 5, characterized in that, The step of determining the vehicles to be dispatched through the corresponding roller shutter door and the first dispatch quantity based on the vehicle positions of each vehicle to be dispatched in the current storage area, the position information of the roller shutter door, and the preset closing time corresponding to each roller shutter door includes: For each vehicle to be dispatched, the waiting time to pass through the corresponding roller shutter is determined based on the current vehicle location and the roller shutter door location information of at least two related storage areas. If the waiting time is less than the preset closing time of the corresponding roller shutter door, then the vehicle currently to be dispatched is determined to be the vehicle to be dispatched. The vehicles to be dispatched are bound to the corresponding roller shutters, and the number of vehicles passing through the roller shutters is accumulated to update the first dispatch quantity corresponding to the roller shutters.

7. The method according to claim 6, characterized in that, The step of determining the waiting time for passing through the corresponding roller shutter door based on the current vehicle location of the vehicle to be dispatched and the roller shutter door location information of at least two associated storage areas includes: Based on the current vehicle location and the location information of each roller shutter door, the passage parameters corresponding to each roller shutter door are determined; wherein, the passage parameters include first distance information, first number of turns, and first number of queues; Based on the first distance information, vehicle speed, number of first turns, turn time, number of first queues, and queue time, the waiting time for the currently scheduled vehicle to pass through the corresponding roller shutter is determined.

8. The method according to claim 5, characterized in that, The step of determining the target dispatch vehicles to be dispatched to the at least two associated storage areas from the vehicles waiting to pass through, based on the total number of vehicles to be dispatched in each associated storage area, a preset temporary storage threshold, and a first dispatch quantity, includes: Based on the total number of dispatched vehicles in each associated storage area, the corresponding first dispatch quantity, and the preset temporary storage threshold, the target dispatch quantity from the current storage area to each associated storage area is determined. The vehicles to be dispatched corresponding to the target dispatch quantity are determined from the vehicles to be dispatched that are bound to each roller shutter door, and are then designated as the target dispatch vehicles.

9. The method according to claim 1, characterized in that, Also includes: If the vehicle to be dispatched is located at a position corresponding to the roller shutter door position information, then the storage area to which the vehicle to be dispatched belongs and the target storage location in that storage area are determined based on the total number of vehicles to be dispatched in the two storage areas associated with the roller shutter door position information.

10. A device for dispatching vehicles, characterized in that, include: The vehicle to be dispatched determination module is used to determine the location of vehicles to be dispatched in each storage area and the total number of vehicles to be dispatched when a vehicle dispatch signal is received; wherein, the vehicle dispatch signal is a control signal issued by the system to each vehicle when a fire is detected in one or more storage areas; The vehicle control module is used to determine the target storage location of each vehicle to be dispatched in the current storage area according to a preset first objective function and first constraint condition if the total number of vehicles to be dispatched in the current storage area is less than or equal to a preset temporary storage threshold corresponding to the current storage area, and control the corresponding vehicles to be dispatched to drive to the target storage location. The associated storage area determination module is used to determine at least two associated storage areas associated with the current storage area and the target dispatch vehicles to be dispatched to the at least two associated storage areas if the total number of vehicles to be dispatched in the current storage area is greater than the preset temporary storage threshold. The target storage location determination module is used to control the target dispatch vehicle to travel from the current storage area to the corresponding associated storage area; wherein, the associated storage area is the storage area adjacent to the current storage area; The first objective function is determined based on the vehicle location, the storage location information, and the storage location information of the vehicle to be dispatched from the vehicle location to the corresponding storage location. The first constraint condition includes that each storage location stores one vehicle to be dispatched.

11. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method of scheduling vehicles as described in any one of claims 1-9.

12. A storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to perform the method of dispatching vehicles as described in any one of claims 1-9.

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