An automatic driving sanitation vehicle scheduling method, device, equipment and storage medium

Abstract

The application discloses an automatic driving sanitation vehicle scheduling method and device, equipment and a storage medium. The method comprises the following steps: acquiring a plurality of task routes, vehicle data of a to-be-scheduled automatic driving sanitation vehicle, and resource consumption of the to-be-scheduled automatic driving sanitation vehicle in different operation modes; calculating a scheduling scheme with the shortest operation time according to the task routes, the resource consumption of the to-be-scheduled automatic driving sanitation vehicle in different operation modes, and the vehicle data; obtaining a task allocation result according to the scheduling scheme; and issuing the task allocation result to a corresponding vehicle-mounted server through a cloud server, so that the to-be-scheduled automatic driving sanitation vehicle performs sanitation operation according to the task allocation result, and the technical problems of low sanitation vehicle scheduling efficiency and low vehicle cleaning efficiency in the prior art are improved.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, apparatus, equipment and storage medium for dispatching autonomous sanitation vehicles. Background Technology

[0002] With the development of autonomous driving technology, self-driving sanitation vehicles have emerged, reducing labor costs. However, most existing sanitation vehicle dispatching schemes rely on manual dispatching. Assigning different personnel to manage and dispatch vehicles in different areas leads to low dispatching efficiency. Furthermore, manual dispatching is susceptible to personal preferences when determining cleaning routes, further contributing to low cleaning efficiency.

[0003] Therefore, providing an autonomous driving sanitation vehicle dispatching method is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for dispatching autonomous sanitation vehicles, which aims to improve the technical problems of low dispatching efficiency and low cleaning efficiency of sanitation vehicles in the prior art.

[0005] In view of this, the first aspect of this application provides a method for dispatching autonomous sanitation vehicles, comprising:

[0006] Acquire several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of the autonomous sanitation vehicles to be dispatched in different operating modes.

[0007] Based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operating modes, and the vehicle data, a dispatching scheme with the shortest operation time is calculated.

[0008] The task allocation result is obtained according to the scheduling scheme, and the task allocation result is sent to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicle to be scheduled can carry out sanitation work according to the task allocation result.

[0009] Optionally, the step of calculating the scheduling scheme with the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicles to be scheduled in different operation modes, and the vehicle data includes:

[0010] Based on the number of autonomous sanitation vehicles to be dispatched, all the task routes are grouped into several route groups, and one autonomous sanitation vehicle to be dispatched is assigned to each route group, resulting in several grouping results. Among them, the number of task routes is greater than or equal to the number of autonomous sanitation vehicles to be dispatched, and the number of route groups is the same as the number of autonomous sanitation vehicles to be dispatched.

[0011] The total working distance of each group result is determined based on the resource consumption of each group result, the task route corresponding to each group result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched; wherein, the resource consumption of each group result is calculated based on the working mode corresponding to the task route in each group result and the resource consumption of the autonomous sanitation vehicle to be dispatched in different working modes.

[0012] The operation time corresponding to each grouping result is calculated based on the total operation distance of each grouping result, the operation mode of the task route in each grouping result, and the operation speed of the corresponding autonomous sanitation vehicle to be dispatched in each operation mode.

[0013] The group with the shortest job duration is selected as the scheduling scheme.

[0014] Optionally, grouping all the task routes according to the number of autonomous sanitation vehicles to be dispatched includes:

[0015] The task routes are sorted according to their start and end positions to obtain the route sequence with the shortest total length.

[0016] The route sequence is grouped according to the number of autonomous sanitation vehicles to be dispatched, resulting in several route groups.

[0017] Optionally, sorting the task routes according to their start and end positions to obtain the route sequence with the shortest total length includes:

[0018] Calculate the distance from the end point of one task route to the start point of another task route based on the start and end points of each task route, and obtain the target distance between the two task routes.

[0019] The task routes are sorted based on the principle of minimizing the target distance between adjacent task routes to obtain the route sequence with the shortest total route length.

[0020] Optionally, determining the total work distance for each grouping result based on the resource consumption of each grouping result, the task route corresponding to each grouping result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched includes:

[0021] The basic route corresponding to each route group is determined based on the starting and ending positions of the task routes of each route group in the grouping results and the starting position of the corresponding autonomous sanitation vehicle to be dispatched.

[0022] The resource consumption of each grouping result is calculated based on the operation mode corresponding to the task route in each grouping result, the basic route corresponding to each route group, and the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes.

[0023] Based on the resource consumption of each grouping result and the current onboard resources of the autonomous sanitation vehicles to be dispatched corresponding to each grouping result, determine whether each grouping result needs to add a resource replenishment route.

[0024] For grouping results that do not require additional resource supplementation routes, the total distance of the grouping result is obtained based on the basic routes corresponding to each route group in the grouping result.

[0025] For grouping results that require additional resource supplementation routes, identify the target route group in the grouping results that requires additional resource supplementation routes, add additional resource supplementation routes to the basic routes corresponding to the target route group to obtain the final route of the target route group, and obtain the total distance of the grouping results based on the final route of the target route group and the basic routes of non-target route groups in the grouping results.

[0026] Optionally, determining the basic route corresponding to each route group based on the start and end points of the task routes of each route group in each grouping result and the start point of the corresponding autonomous sanitation vehicle to be dispatched includes:

[0027] The starting point of the autonomous sanitation vehicle to be dispatched is taken as the starting point of the first route, and the starting point of the first task route in each route group is taken as the ending point of the first route, thereby generating the preliminary route corresponding to each route group.

[0028] The starting point of the second route is taken as the end point of the initial route corresponding to each route group, and the ending point of the last task route in each route group is taken as the end point of the second route, so as to generate the basic route corresponding to each route group.

[0029] Optionally, adding resource-supplementing routes to the basic routes corresponding to the target route group to obtain the final routes of the target route group includes:

[0030] In the basic route corresponding to the target route group, a target point is determined. A local resource supplement route is generated with the target point as the starting point of the third route and the resource supplement point as the ending point of the third route. A complete resource supplement route is generated with the ending point of the local resource supplement route as the starting point of the fourth route and the target point as the ending point of the fourth route.

[0031] The complete resource supplement route is added to the target point in the basic route corresponding to the target route group to obtain the final route of the target route group.

[0032] Optionally, the method further includes:

[0033] The process of obtaining the actual operation data and actual onboard resource consumption data of the autonomous sanitation vehicles to be dispatched performing sanitation operations according to the task allocation results, and optimizing the resource consumption of the grouping results based on the actual operation data and the actual onboard resource consumption data.

[0034] The second aspect of this application provides an autonomous driving sanitation vehicle dispatching device, comprising:

[0035] The acquisition unit is used to acquire several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes.

[0036] The calculation unit is used to calculate the scheduling scheme with the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicle to be scheduled in different operation modes, and the vehicle data.

[0037] The allocation unit is used to obtain the task allocation result according to the scheduling scheme, and send the task allocation result to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicle to be scheduled can carry out sanitation operations according to the task allocation result.

[0038] A third aspect of this application provides an autonomous driving sanitation vehicle dispatching device, the device including a processor and a memory;

[0039] The memory is used to store program code and transmit the program code to the processor;

[0040] The processor is used to execute any one of the autonomous driving sanitation vehicle dispatching methods described in the first aspect according to the instructions in the program code.

[0041] The fourth aspect of this application provides a computer-readable storage medium, characterized in that the computer-readable storage medium is used to store program code, which, when executed by a processor, implements the autonomous driving sanitation vehicle dispatching method described in any of the first aspects.

[0042] As can be seen from the above technical solutions, this application has the following advantages:

[0043] This application provides a method for dispatching autonomous sanitation vehicles, including: acquiring several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of autonomous sanitation vehicles to be dispatched in different operating modes; calculating the dispatching scheme with the shortest operation time based on the task routes, resource consumption of autonomous sanitation vehicles to be dispatched in different operating modes, and vehicle data; obtaining task allocation results based on the dispatching scheme, and distributing the task allocation results to the corresponding on-board server through a cloud server, so that the autonomous sanitation vehicles to be dispatched can perform sanitation operations according to the task allocation results.

[0044] In this application, the scheduling scheme with the shortest operation time is calculated based on the task route, the resource consumption of the autonomous sanitation vehicles to be scheduled in different operation modes, and vehicle data. The autonomous sanitation vehicles are scheduled using the scheduling scheme with the shortest operation time, avoiding the need to schedule sanitation vehicles based on human experience, thus improving the efficiency of sanitation vehicle scheduling. Furthermore, the obtained scheduling scheme has the shortest operation time, which helps to reduce vehicle energy consumption and improve vehicle cleaning efficiency, thereby improving the technical problems of low sanitation vehicle scheduling efficiency and low vehicle cleaning efficiency in the prior art. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart illustrating an autonomous driving sanitation vehicle dispatching method provided in this application embodiment;

[0047] Figure 2 This is another flowchart illustrating an autonomous driving sanitation vehicle dispatching method provided in an embodiment of this application;

[0048] Figure 3 A schematic diagram illustrating the optimization process of the autonomous driving sanitation vehicle dispatching scheme provided in this application embodiment;

[0049] Figure 4This is a schematic diagram of an autonomous driving sanitation vehicle dispatching device provided in an embodiment of this application. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0051] For easier understanding, please refer to Figure 1 This application provides a method for dispatching autonomous sanitation vehicles, including:

[0052] Step 101: Obtain several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of autonomous sanitation vehicles to be dispatched in different operation modes.

[0053] Understandably, when it's necessary to dispatch autonomous sanitation vehicles to clean a certain area, a dispatch task can be created by selecting the task route and the autonomous sanitation vehicles for that area, and then the task is sent to the cloud for storage. During operation, the autonomous sanitation vehicles can upload their resource consumption data in different operating modes to the cloud for storage. Therefore, upon receiving a dispatch task, the cloud can be used to retrieve the task route, vehicle data of the autonomous sanitation vehicles to be dispatched, and their resource consumption data in different operating modes. The task route can include the coordinates of the start and end points, route length, and vehicle operating mode (e.g., full sweeping, full washing and sweeping, flushing, etc.); vehicle data can include vehicle identification (e.g., vehicle ID), vehicle type, and quantity; and the resource consumption data of the autonomous sanitation vehicles to be dispatched in different operating modes can include water and electricity consumption in those modes.

[0054] Step 102: Calculate the scheduling scheme with the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes, and vehicle data.

[0055] Based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operating modes, and vehicle data, an automatic dispatching algorithm is used to calculate the dispatching scheme with the shortest operation time. The specific calculation process is as follows:

[0056] S1. Group all task routes according to the number of autonomous sanitation vehicles to be dispatched, and assign one autonomous sanitation vehicle to be dispatched to each route group, resulting in several grouping results. Among them, the number of task routes is greater than or equal to the number of autonomous sanitation vehicles to be dispatched, and the number of route groups is the same as the number of autonomous sanitation vehicles to be dispatched.

[0057] First, the task routes can be sorted according to their start and end positions to obtain the route sequence with the shortest total length. Specifically, the distance from the end of one task route to the start of another can be calculated based on the start and end positions of each task route to obtain the target distance between the two task routes. The task routes are then sorted based on the principle of minimizing the target distance between adjacent task routes to obtain the route sequence with the shortest total length. For example, if there are x task routes, sorting them according to the shortest distance from the end of task route t to the start of task route t+1 yields the route sequence with the shortest total length. Assuming the first task route in the obtained route sequence has a start point of a and an end point of b, and the last task route has a start point of e and an end point of f, then the total length of the route from start point a to end point f in the order of the task routes in this route sequence is the shortest among all possible route arrangements.

[0058] Secondly, the route sequence is grouped according to the number of autonomous sanitation vehicles to be dispatched, resulting in several route groups. Assume there are x task routes and y autonomous sanitation vehicles to be dispatched, where x ≥ y ≥ 1. Divide the x task routes in the route sequence into y groups, resulting in y route groups. Assign one autonomous sanitation vehicle to each route group, ultimately obtaining z groups. For ease of understanding, an example is provided in this application. Assume there are 3 task routes in the sorted route sequence, namely task route t-1, task route t, and task route t+1, and 2 autonomous sanitation vehicles to be dispatched, namely vehicle C1 and vehicle C2. Dividing the 3 task routes into 2 groups yields the following two types of route groups:

[0059] First type: Route group 1: Mission route t-1; Route group 2: Mission route t, Mission route t+1;

[0060] The second type: Route group 1: mission route t-1, mission route t; Route group 2: mission route t+1;

[0061] Then, by assigning one autonomous sanitation vehicle to each route group, the following four grouping results can be obtained:

[0062] First type: Route group 1: Mission route t-1, vehicle C1; Route group 2: Mission route t, mission route t+1, vehicle C2;

[0063] The second type: Route group 1: Mission route t-1, vehicle C2; ​​Route group 2: Mission route t, mission route t+1, vehicle C1;

[0064] The third type: Route group 1: mission route t-1, mission route t, vehicle C1; Route group 2: mission route t+1, vehicle C2;

[0065] The fourth type: Route group 1: mission route t-1, mission route t, vehicle C2; ​​Route group 2: mission route t+1, vehicle C1.

[0066] S2. Determine the total operating distance of each group result based on the resource consumption of each group result, the task route corresponding to each group result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched; wherein, the resource consumption of each group result is calculated based on the operating mode corresponding to the task route in each group result and the resource consumption of the autonomous sanitation vehicle to be dispatched in different operating modes.

[0067] First, the basic routes for each route group can be determined based on the start and end points of the task routes in each route group within the grouping results, as well as the start point of the corresponding autonomous sanitation vehicles to be dispatched. Specifically, the initial routes for each route group are generated by using the start point of the autonomous sanitation vehicles to be dispatched in each route group as the first route start point and the start point of the first task route in each route group as the first route end point. The basic routes for each route group are then generated by using the end point of the initial routes as the second route start point and the end point of the last task route in each route group as the second route end point. Suppose that route group i in a certain grouping result includes task route t-1, task route t, task route t+1 and vehicle C1, where the starting point of task route t-1 is a and the ending point is b; the starting point of task route t is c and the ending point is d; the starting point of task route t+1 is e and the ending point is f; and the starting point of vehicle C1 is o. The basic route of route group i can be obtained as follows: starting point o of vehicle C1 → starting point a of task route t-1 → ending point f of task route t+1.

[0068] Secondly, the resource consumption of each group can be calculated based on the operation mode corresponding to the task route in each group result, the basic route corresponding to each route group, and the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes. Based on the vehicle identifier of the autonomous sanitation vehicle to be dispatched, its resource consumption during historical operations can be obtained from the cloud, thus revealing the resource consumption of that vehicle in different operation modes. If the autonomous sanitation vehicle to be dispatched is a new vehicle, its resource consumption in different operation modes can be obtained by retrieving the corresponding type of autonomous sanitation vehicle's operation data from the cloud based on its vehicle type.

[0069] Given the operational modes corresponding to the task routes in each route group and the basic routes corresponding to each route group, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operational modes can be calculated based on the resource consumption of the autonomous sanitation vehicles to be dispatched in each route group under the corresponding task route operational mode, thus obtaining the resource consumption of each group result. Assume that route group i in a certain group result includes task route t-1, task route t, task route t+1, and vehicle C1. The basic route of route group i is the starting point o of vehicle C1 → the starting point a of task route t-1 → the ending point f of task route t+1. The route from starting point o to starting point a of task route t-1 is in a non-operational state. The operational mode corresponding to task route t-1 is full sweeping, the operational mode corresponding to task route t is full washing and sweeping, and the operational mode corresponding to task route t+1 is offset washing. Based on the historical operation data of vehicle C1, the resource consumption of vehicle C1 in non-operational state, full sweeping operation mode, full washing and sweeping operation mode, and counter-flushing operation mode can be obtained. Based on the resource consumption of vehicle C1 in non-operational state, the resource consumption of vehicle C1 from the starting point o to the starting point a of task route t-1 can be calculated. Among them, the resource consumption of vehicle C1 at any point during the journey from the starting point o to the starting point a of task route t-1 can be calculated. Based on the resource consumption of vehicle C1 in full sweeping operation mode, the resource consumption of vehicle C1 from the starting point a of task route t-1 to the ending point b can be calculated. Similarly, the resource consumption to the starting point c, ending point b, starting point e, and ending point f can be calculated. That is, the resource consumption of vehicle C1 in different operation modes along the entire basic route can be calculated, thus obtaining the resource consumption of each group result. The resource consumption includes the resource consumption when performing operations in different operation modes and the resource consumption when switching modes.

[0070] Then, based on the resource consumption of each group and the current onboard resources of the corresponding autonomous sanitation vehicles to be dispatched, it can be determined whether each group needs additional resource replenishment routes. The remaining water and electricity of the autonomous sanitation vehicles to be dispatched can be determined based on their current onboard resources. If resource consumption exceeds the remaining water or electricity, it indicates that the vehicles need additional resources, meaning an additional resource replenishment route is required. If, after completing the entire basic route, the resource consumption of the autonomous sanitation vehicles does not exceed their remaining water or electricity, no additional water or electricity is needed, meaning no additional resource replenishment route is required.

[0071] For grouping results that do not require additional resource supplementation routes, the total distance of the grouping result is obtained based on the basic routes corresponding to each route group in the grouping result. For grouping results that require additional resource supplementation routes, the target route group that requires additional resource supplementation routes is identified in the grouping result. Additional resource supplementation routes are added to the basic routes corresponding to the target route group to obtain the final route of the target route group. The total distance of the grouping result is then obtained based on the final route of the target route group and the basic routes of the non-target route groups in the grouping result. Specifically, a target point is identified in the basic routes corresponding to the target route group. A local additional resource supplementation route is generated with the target point as the starting point of the third route and the resource supplementation point as the ending point of the third route. A complete additional resource supplementation route is generated with the ending point of the local additional resource supplementation route as the starting point of the fourth route and the target point as the ending point of the fourth route. The complete additional resource supplementation route is added to the target point in the basic routes corresponding to the target route group to obtain the final route of the target route group.

[0072] Based on the resource consumption of each group and the current onboard resources of the autonomous sanitation vehicles to be dispatched for each group, it can be calculated which section of the task route will result in resource consumption exceeding the remaining resources. Furthermore, it can be calculated at which specific location the water or electricity will be depleted, allowing for replenishment of water or electricity before reaching that point. The selection of the target point can be determined based on the location of the resource replenishment point and the resource consumption of the autonomous sanitation vehicles to be dispatched, ensuring at least that the vehicles have sufficient power to reach the replenishment point. Continuing with the example above, suppose a resource replenishment route needs to be added to route group i in a certain group, with target point g and resource replenishment point h. Then the final route of route group i is: vehicle C1's starting point o → task route t-1's starting point a → target point g → resource replenishment point h → target point g → task route t+1's ending point f.

[0073] S3. Calculate the operation time corresponding to each group result based on the total operation distance of each group result, the operation mode of the task route in each group result, and the operation speed of the corresponding autonomous sanitation vehicle to be dispatched in each operation mode.

[0074] The operation modes corresponding to each task route in the total operation distance of each group result are known. The operation speed of the autonomous sanitation vehicles to be dispatched under different operation modes can be obtained from historical operation data. Therefore, the operation time of each group result can be calculated. The operation time calculated in this embodiment includes the time consumption for executing the operation under each operation mode, the time consumption for mode switching, and the time consumption for replenishing resources.

[0075] S4. Select the group with the shortest job duration as the scheduling scheme.

[0076] The above steps allow for the calculation of the operation time for group z, and then the group with the shortest operation time is selected as the scheduling scheme. The scheduling scheme in this embodiment can dispatch multiple autonomous sanitation vehicles to clean one or more areas, which improves the scheduling efficiency of autonomous sanitation vehicles compared to the traditional method of one sanitation vehicle cleaning one area.

[0077] Step 103: Obtain the task allocation result according to the scheduling plan, and send the task allocation result to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicles to be scheduled can carry out sanitation operations according to the task allocation result.

[0078] Based on the scheduling plan, the task routes, corresponding operation modes, and autonomous sanitation vehicles to be dispatched in each route group can be determined. This allows us to obtain the task routes and operation modes for each autonomous sanitation vehicle to be dispatched, thus determining the task allocation results for each vehicle. The task scheduling service on the cloud server can then send the task routes and corresponding operation modes of each route group to the onboard servers of the autonomous sanitation vehicles to be dispatched, enabling these vehicles to perform sanitation operations according to their assigned routes and operation modes.

[0079] In this embodiment, the scheduling scheme with the shortest operation time is calculated based on the task route, the resource consumption of the autonomous sanitation vehicles to be scheduled in different operation modes, and vehicle data. The autonomous sanitation vehicles are scheduled using the scheduling scheme with the shortest operation time, avoiding the need to schedule sanitation vehicles based on human experience, thus improving the efficiency of sanitation vehicle scheduling. Furthermore, the obtained scheduling scheme has the shortest operation time, which helps to reduce vehicle energy consumption and improve vehicle cleaning efficiency, thereby improving the technical problems of low sanitation vehicle scheduling efficiency and low vehicle cleaning efficiency in the prior art.

[0080] The above is one embodiment of an autonomous driving sanitation vehicle scheduling method provided in this application. The following is another embodiment of an autonomous driving sanitation vehicle scheduling method provided in this application.

[0081] Please refer to Figure 2 This application provides a method for dispatching autonomous sanitation vehicles, comprising:

[0082] Step 201: Obtain several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of autonomous sanitation vehicles to be dispatched in different operation modes.

[0083] Step 202: Calculate the scheduling scheme with the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes, and vehicle data.

[0084] Step 203: Obtain the task allocation result according to the scheduling plan, and send the task allocation result to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicles to be scheduled can carry out sanitation operations according to the task allocation result.

[0085] The specific content of steps 201 to 203 is the same as that of steps 101 to 103 mentioned above, and will not be repeated here.

[0086] Step 204: Obtain the actual operation data and actual onboard resource consumption data of the autonomous sanitation vehicles to be dispatched, which are performing sanitation operations according to the task allocation results, and optimize the calculation process of the dispatching scheme based on the actual operation data and actual onboard resource consumption data.

[0087] When dispatched autonomous sanitation vehicles perform sanitation operations according to task allocation results, they can collect actual operation data (actual operation speed, actual operation time, etc.) and actual onboard resource consumption data through data collection equipment. This data is then uploaded to a cloud server and stored in cloud storage. After obtaining the actual operation data and actual onboard resource consumption data, the calculated operation time and the actual operation time, as well as the calculated resource consumption and the actual onboard resource consumption data, can be compared. When there is a significant difference, the calculation process for resource consumption in the grouping results can be optimized based on the actual operation data and the actual onboard resource consumption data. This optimizes the dispatching scheme. For details on the optimization process, please refer to [reference needed]. Figure 3 By uploading operational data and onboard resource consumption from autonomous sanitation vehicles during actual operations, the operation process of these vehicles can be monitored. This effectively addresses the issue of insufficient human feedback in autonomous sanitation vehicles, reduces energy consumption through data-driven approaches, and helps improve the cleaning efficiency of autonomous sanitation vehicles.

[0088] The above is an embodiment of an autonomous driving sanitation vehicle dispatching method provided by this application. The following is an embodiment of an autonomous driving sanitation vehicle dispatching device provided by this application.

[0089] Please refer to Figure 4 This application provides an autonomous driving sanitation vehicle dispatching device, comprising:

[0090] The acquisition unit is used to acquire several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of autonomous sanitation vehicles to be dispatched in different operation modes.

[0091] The calculation unit is used to calculate the scheduling scheme with the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes, and vehicle data.

[0092] The allocation unit is used to obtain the task allocation results according to the scheduling scheme, and send the task allocation results to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicles to be dispatched can carry out sanitation operations according to the task allocation results.

[0093] As a further improvement, the computing unit is specifically used for:

[0094] Based on the number of autonomous sanitation vehicles to be dispatched, all task routes are grouped into several route groups, and one autonomous sanitation vehicle to be dispatched is assigned to each route group, resulting in several grouping results. Among them, the number of task routes is greater than or equal to the number of autonomous sanitation vehicles to be dispatched, and the number of route groups is the same as the number of autonomous sanitation vehicles to be dispatched.

[0095] The total operating distance for each group is determined based on the resource consumption of each group result, the task route corresponding to each group result, and the current location of the corresponding autonomous sanitation vehicles to be dispatched. The resource consumption of each group result is calculated based on the operating mode corresponding to the task route in each group result and the resource consumption of the autonomous sanitation vehicles to be dispatched in different operating modes.

[0096] The operation time corresponding to each group result is calculated based on the total operation distance of each group result, the operation mode of the task route in each group result, and the operation speed of the corresponding autonomous sanitation vehicle to be dispatched in each operation mode.

[0097] The group with the shortest job duration is selected as the scheduling scheme.

[0098] As a further improvement, it also includes:

[0099] The optimization unit is used to obtain the actual operation data and actual onboard resource consumption data of the autonomous sanitation vehicles to be dispatched performing sanitation operations according to the task allocation results, and to calculate the resource consumption of the grouping results based on the actual operation data and actual onboard resource consumption data.

[0100] In this embodiment, the scheduling scheme with the shortest operation time is calculated based on the task route, the resource consumption of the autonomous sanitation vehicles to be scheduled in different operation modes, and vehicle data. The autonomous sanitation vehicles are scheduled using the scheduling scheme with the shortest operation time, avoiding the need to schedule sanitation vehicles based on human experience, thus improving the efficiency of sanitation vehicle scheduling. Furthermore, the obtained scheduling scheme has the shortest operation time, which helps to reduce vehicle energy consumption and improve vehicle cleaning efficiency, thereby improving the technical problems of low sanitation vehicle scheduling efficiency and low vehicle cleaning efficiency in the prior art.

[0101] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0102] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0103] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0105] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0107] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for executing all or part of the steps of the methods described in the various embodiments of this application through a computer device (which may be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0108] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for dispatching autonomous sanitation vehicles, characterized in that, include: Acquire several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of the autonomous sanitation vehicles to be dispatched in different operating modes. Based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operating modes, and the vehicle data, a dispatching scheme with the shortest operation time is calculated. The task allocation result is obtained according to the scheduling scheme, and the task allocation result is sent to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicle to be scheduled can carry out sanitation operation according to the task allocation result. The method of calculating the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes, and the vehicle data includes: Based on the number of autonomous sanitation vehicles to be dispatched, all the task routes are grouped into several route groups, and one autonomous sanitation vehicle to be dispatched is assigned to each route group, resulting in several grouping results. Among them, the number of task routes is greater than or equal to the number of autonomous sanitation vehicles to be dispatched, and the number of route groups is the same as the number of autonomous sanitation vehicles to be dispatched. The total working distance of each group result is determined based on the resource consumption of each group result, the task route corresponding to each group result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched; wherein, the resource consumption of each group result is calculated based on the working mode corresponding to the task route in each group result and the resource consumption of the autonomous sanitation vehicle to be dispatched in different working modes. The operation time corresponding to each grouping result is calculated based on the total operation distance of each grouping result, the operation mode of the task route in each grouping result, and the operation speed of the corresponding autonomous sanitation vehicle to be dispatched in each operation mode. The group with the shortest job duration is selected as the scheduling scheme; The step of determining the total work distance for each grouping result based on the resource consumption of each grouping result, the task route corresponding to each grouping result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched includes: The basic route corresponding to each route group is determined based on the starting and ending positions of the task routes of each route group in the grouping results and the starting position of the corresponding autonomous sanitation vehicle to be dispatched. The resource consumption of each grouping result is calculated based on the operation mode corresponding to the task route in each grouping result, the basic route corresponding to each route group, and the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes. Based on the resource consumption of each grouping result and the current onboard resources of the autonomous sanitation vehicles to be dispatched corresponding to each grouping result, determine whether each grouping result needs to add a resource replenishment route. For grouping results that do not require additional resource supplementation routes, the total distance of the grouping result is obtained based on the basic routes corresponding to each route group in the grouping result. For grouping results that require additional resource supplement routes, identify the target route group in the grouping results that requires additional resource supplement routes, add additional resource supplement routes to the basic routes corresponding to the target route group to obtain the final route of the target route group, and obtain the total distance of the grouping results based on the final route of the target route group and the basic routes of the non-target route groups in the grouping results.

2. The autonomous driving sanitation vehicle dispatching method according to claim 1, characterized in that, The step of grouping all the task routes according to the number of autonomous sanitation vehicles to be dispatched includes: The task routes are sorted according to their start and end positions to obtain the route sequence with the shortest total length. The route sequence is grouped according to the number of autonomous sanitation vehicles to be dispatched, resulting in several route groups.

3. The autonomous driving sanitation vehicle dispatching method according to claim 2, characterized in that, The step of sorting the task routes according to their start and end positions to obtain the route sequence with the shortest total length includes: Calculate the distance from the end point of one task route to the start point of another task route based on the start and end points of each task route, and obtain the target distance between the two task routes. The task routes are sorted based on the principle of minimizing the target distance between adjacent task routes to obtain the route sequence with the shortest total route length.

4. The autonomous driving sanitation vehicle dispatching method according to claim 1, characterized in that, The step of determining the basic route corresponding to each route group based on the start and end points of the task routes of each route group in each grouping result and the start point of the corresponding autonomous sanitation vehicle to be dispatched includes: The starting point of the autonomous sanitation vehicle to be dispatched is taken as the starting point of the first route, and the starting point of the first task route in each route group is taken as the ending point of the first route, thereby generating the preliminary route corresponding to each route group. The starting point of the second route is taken as the end point of the initial route corresponding to each route group, and the ending point of the last task route in each route group is taken as the end point of the second route, so as to generate the basic route corresponding to each route group.

5. The autonomous driving sanitation vehicle dispatching method according to claim 1 or 4, characterized in that, The step of adding resource-supplementing routes to the basic routes corresponding to the target route group to obtain the final routes of the target route group includes: In the basic routes corresponding to the target route group, a target point is determined. The target point is used as the starting point of the third route, and the resource replenishment point is used as the ending point of the third route to generate a local resource replenishment route. The ending point of the local resource replenishment route is used as the starting point of the fourth route, and the target point is used as the ending point of the fourth route to generate a complete resource replenishment route. The complete resource supplement route is added to the target point in the basic route corresponding to the target route group to obtain the final route of the target route group.

6. The autonomous driving sanitation vehicle dispatching method according to claim 1, characterized in that, The method further includes: The process of obtaining the actual operation data and actual onboard resource consumption data of the autonomous sanitation vehicles to be dispatched performing sanitation operations according to the task allocation results, and optimizing the resource consumption of the grouping results based on the actual operation data and the actual onboard resource consumption data.

7. An autonomous driving sanitation vehicle dispatching device, characterized in that, include: The acquisition unit is used to acquire several task routes, vehicle data of autonomous sanitation vehicles to be dispatched, and resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes. The calculation unit is used to calculate the scheduling scheme with the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicle to be scheduled in different operation modes, and the vehicle data. The allocation unit is used to obtain the task allocation result according to the scheduling scheme, and send the task allocation result to the corresponding vehicle server through the cloud server, so that the autonomous sanitation vehicle to be scheduled can carry out sanitation operation according to the task allocation result. The method of calculating the shortest operation time based on the task route, the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes, and the vehicle data includes: Based on the number of autonomous sanitation vehicles to be dispatched, all the task routes are grouped into several route groups, and one autonomous sanitation vehicle to be dispatched is assigned to each route group, resulting in several grouping results. Among them, the number of task routes is greater than or equal to the number of autonomous sanitation vehicles to be dispatched, and the number of route groups is the same as the number of autonomous sanitation vehicles to be dispatched. The total working distance of each group result is determined based on the resource consumption of each group result, the task route corresponding to each group result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched; wherein, the resource consumption of each group result is calculated based on the working mode corresponding to the task route in each group result and the resource consumption of the autonomous sanitation vehicle to be dispatched in different working modes. The operation time corresponding to each grouping result is calculated based on the total operation distance of each grouping result, the operation mode of the task route in each grouping result, and the operation speed of the corresponding autonomous sanitation vehicle to be dispatched in each operation mode. The group with the shortest job duration is selected as the scheduling scheme; The step of determining the total work distance for each grouping result based on the resource consumption of each grouping result, the task route corresponding to each grouping result, and the current location of the corresponding autonomous sanitation vehicle to be dispatched includes: The basic route corresponding to each route group is determined based on the starting and ending positions of the task routes of each route group in the grouping results and the starting position of the corresponding autonomous sanitation vehicle to be dispatched. The resource consumption of each grouping result is calculated based on the operation mode corresponding to the task route in each grouping result, the basic route corresponding to each route group, and the resource consumption of the autonomous sanitation vehicles to be dispatched in different operation modes. Based on the resource consumption of each grouping result and the current onboard resources of the autonomous sanitation vehicles to be dispatched corresponding to each grouping result, determine whether each grouping result needs to add a resource replenishment route. For grouping results that do not require additional resource supplementation routes, the total distance of the grouping result is obtained based on the basic routes corresponding to each route group in the grouping result. For grouping results that require additional resource supplement routes, identify the target route group in the grouping results that requires additional resource supplement routes, add additional resource supplement routes to the basic routes corresponding to the target route group to obtain the final route of the target route group, and obtain the total distance of the grouping results based on the final route of the target route group and the basic routes of the non-target route groups in the grouping results.

8. An autonomous driving sanitation vehicle dispatching device, characterized in that, The device includes a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the autonomous driving sanitation vehicle dispatching method according to any one of claims 1-6 according to the instructions in the program code.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code, which, when executed by a processor, implements the autonomous driving sanitation vehicle dispatching method according to any one of claims 1-6.

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