A unified transportation control method and system for a vehicle

Abstract

The present invention provides a unified transportation control method and system for vehicles. The unified transportation control method includes: determining a unified transportation layout for multiple different types of transportation vehicles and their corresponding control systems; the unified transportation layout refers to the unified definition of the characteristics including transportation targets, transportation vehicles, working spaces, and transportation tasks; customizing function modules for the vehicles that conform to the unified definition; loading each function module and processing the corresponding events in each function module. By determining a unified transportation layout and implementing customized modules that meet the predefined interfaces of the unified transportation control system as needed, the present invention shields the differences in the vehicle driving space specifications and the differences in the relevant transportation control systems, solves the problem that different vehicles need to use different transportation control systems due to the differences in the driving space specifications, and significantly reduces the development cost, maintenance cost, and labor cost of related systems, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic material handling systems, and particularly relates to a unified transportation control method and system for vehicles. Background Art

[0002] Currently, in an automatic material handling system (AMHS: Automatic Material Handling System) in a workplace, there may be multiple types of handling vehicles and transportation control systems. Vehicles such as AGV (Automated Guided Vehicle), RGV (Rail Guided Vehicle), MR (Mobile Robot), OHS (Over Head Shuttle), and OHT (Overhead Hoist Transporter, or overhead crane) may have different driving space specifications. Some directly drive within designated areas on the floor, such as AGV and MR; some drive above the tracks, such as RGV and OHS, and some hang below the tracks and drive, such as OHT; the track specifications supported by different manufacturers may not be exactly the same. These handling vehicles may come from different manufacturers or the same manufacturer but have different models. Usually, they communicate with and are controlled by certain transportation control systems respectively. Due to the differences in the manufacturers and models of these vehicles, especially the differences in their driving space specifications, it is necessary to deploy corresponding transportation control systems for different manufacturers and different types of vehicles. The transportation control system communicates with the upper-level system such as MCS and each vehicle; processes the transfer commands from the upper-level system or the control of the transfer commands, including dispatching appropriate vehicles, issuing commands that the corresponding vehicles can understand, and may expect to achieve the optimal under the specified strategy; monitors the conditions of the vehicles and controls these vehicles to ensure traffic safety; reports to the upper-level system the execution status of the transfer commands or the control of the transfer commands.

[0003] Therefore, due to the differences in the driving space specifications of different vehicles and the differences in the related transportation control systems, it is obviously costly to simultaneously own, deploy, use, and maintain multiple transportation control systems. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a unified transportation control method and a unified transportation control system for vehicles. By uniformly defining materials, vehicles, working spaces, transfer orders, and routes, and implementing customized modules that meet the predefined interfaces of the unified transportation control system as needed, the differences in the driving space specifications of vehicles and the differences in the related transportation control systems are shielded, and the problem that different vehicles need to use different transportation control systems due to the differences in their driving space specifications is solved.

[0005] The embodiments of the present application provide the following technical solutions: A unified transportation control method for vehicles, including:

[0006] Determine a unified transportation layout for multiple different types of transportation vehicles and their corresponding control systems;

[0007] The unified transportation layout refers to the unified definition of the characteristics including transportation targets, transportation vehicles, working spaces, and transportation tasks;

[0008] The specific process of this unified definition includes: determining the material categories of the transported materials and the temporary storage spaces for each category of materials, determining the categories of transportation vehicles that support the transportation of each category of materials, determining the root working space for transportation control and dividing sub-working spaces, determining different transportation maps, and the working space lists of each vehicle in each map;

[0009] Customize function modules for the vehicles that conform to this unified definition;

[0010] Load each function module and process the corresponding events in each function module.

[0011] Further, according to the unified transportation layout, customize the function modules for handling different events; the function modules include: a main controller module, and a handling order processing module, a transportation layout model module, a pathfinder module, a dispatcher module, a traffic controller module, a vehicle controller module, and a communication module that are respectively connected to the main controller module for control.

[0012] Further, the handling order processing module is used to handle events corresponding to handling orders;

[0013] The transportation layout model module is used to load map and vehicle data and process events corresponding to the traffic layout model;

[0014] The pathfinder module is used to enable vehicles with any attributes to have an autonomous pathfinding function, and to implement a pathfinding method that supports the vehicle to handle pathfinding corresponding events;

[0015] The dispatcher module is used to handle events corresponding to handling orders;

[0016] The traffic controller module is used to handle events corresponding to the transportation layout, including: managing the points, operation positions, road sections, and traffic control groups used by vehicles to prevent collisions and circular waiting between vehicles;

[0017] The vehicle controller module can support vehicles with any attributes, and is used to issue commands to the corresponding vehicles through each vehicle controller module to handle vehicle corresponding events;

[0018] The communication module is used to implement the communication between vehicles with arbitrary attributes and a specified upper-level system;

[0019] The main controller module is used to load and start the handling order processing module, transportation layout model module, pathfinder module, dispatcher module, traffic controller module, vehicle controller module, and communication module, and process corresponding events according to the events registered in each module and the corresponding processing methods for the events. Further, when the main controller module processes corresponding events according to the registered events and the corresponding processing methods for the events,

[0020] If it is a handling order delivery event, add the corresponding handling order to the handling order processing list of the dispatcher module;

[0021] If it is a handling order cancellation event, add the corresponding handling order to the handling order cancellation list of the dispatcher module;

[0022] If it is a transportation layout change event, notify the pathfinder module and the dispatcher module that the transportation layout has been updated.

[0023] Further, when the dispatcher module processes corresponding events for handling orders,

[0024] If the handling order processing list is not empty, for the handling orders in it, sequentially call the method for obtaining the list of candidate vehicle numbers for processing;

[0025] If the obtained list of candidate vehicle numbers for handling the handling order is not empty, call the method for obtaining the best candidate route;

[0026] If the obtained list of candidate routes for the handling order is not empty, notify the traffic controller module to execute the specified route for the specified vehicle;

[0027] If the handling order cancellation list is not empty, for the handling orders in it, cancel them and sequentially call the method for the dispatcher module to cancel the handling order;

[0028] If the handling order can be cancelled, call the method for the dispatcher module to cancel the handling order and notify the traffic controller module to execute the stop driving or stop working command for the specified vehicle.

[0029] Further, when the traffic controller module processes corresponding events for the transportation layout,

[0030] If it is an event of adding, deleting, or modifying points, operation positions, road sections, or traffic control groups, for the handling orders in it, sequentially call the method for obtaining the list of candidate vehicles for processing;

[0031] If it is a vehicle condition change event, call the transportation layout model module to update the transportation layout model, and / or call the handling order processing module to update the status of the handling order;

[0032] If it is a command event for a vehicle to execute or cancel a handling order, send a command to the corresponding vehicle through each vehicle controller module.

[0033] Furthermore, the method for obtaining the list of candidate handling vehicle numbers includes the following steps:

[0034] S501. Initialize an empty list of candidate vehicle numbers;

[0035] S502. Obtain the number of the workspace to which the point corresponding to the starting position of the handling order belongs, and obtain the starting space number;

[0036] S503. Obtain the number of the workspace to which the point corresponding to the destination position of the handling order belongs, and obtain the destination space number;

[0037] S504. Obtain the material category corresponding to the material number of the handling order, and obtain the material category;

[0038] S505. Obtain the list of vehicles with the current working mode being normal in the transportation layout, and obtain the vehicle list;

[0039] S506. If there are no unprocessed vehicles in the vehicle list, jump to S507; otherwise, jump to S508;

[0040] S507. Return the list of candidate vehicle numbers;

[0041] S508. Take the first unprocessed vehicle as the current vehicle;

[0042] S509. If the starting space number is not included in the list of workspace numbers allowed for the vehicle, jump to S506;

[0043] If the destination space number is not included in the list of workspace numbers allowed for the vehicle, jump to S506;

[0044] If the category of the current vehicle does not support the operation name or operation specifications of the handling order, jump to S506;

[0045] If the model of the current vehicle does not support at least one of the relevant specifications of the material category; the relevant specifications include size specifications, mass specifications, storage specifications, loading and unloading specifications, and transportation specifications;

[0046] S510. Currently add the number of the current vehicle to the list of candidate vehicle numbers, and jump to S506.

[0047] Further, the method for obtaining the optimal candidate route includes the following steps:

[0048] S601. Initialize a triple of vehicle number, route, and route cost. Set the vehicle number to -1, the route to be empty, and the route cost to the maximum allowable value;

[0049] S602. If there is no unprocessed vehicle number in the candidate vehicle number list, jump to S603; otherwise, jump to S604;

[0050] S603. Return the triple;

[0051] S604. Take the vehicle corresponding to the first unprocessed vehicle number as the current vehicle;

[0052] S605. If the current vehicle uses the autonomous pathfinding function, jump to S606; otherwise, jump to S607;

[0053] S606. Call the vehicle's autonomous pathfinding function through the vehicle communication module to obtain the optimal route of the vehicle and its route cost, and jump to S608;

[0054] S607. Obtain the optimal route of the vehicle and its route cost through the pathfinding method of the pathfinder module, and jump to S608;

[0055] S608. If the obtained route cost is less than the route cost in the triple, jump to S609; otherwise, jump to S602;

[0056] S609. Update the triple according to the current vehicle: set the vehicle number of the triple to the number of the current vehicle, set the route of the triple to the optimal route of the current vehicle, set the route cost of the triple to the optimal route cost of the current vehicle, and jump to S602.

[0057] The embodiment of the present invention also provides a unified transportation control system for vehicles, including:

[0058] A transportation layout determination unit, which is used to determine a unified transportation layout for multiple different types of transportation vehicles and their corresponding control systems; the unified transportation layout refers to a unified definition of the characteristics including transportation objectives, transportation vehicles, working spaces, and transportation tasks; the specific process of this unified definition includes: determining the material categories of the transported materials and the temporary storage spaces for each category of materials, determining the categories of transportation vehicles that support the transportation of each category of materials, determining the root working space for transportation control and dividing sub-working spaces, determining different transportation maps, and the working space lists of each vehicle in each map;

[0059] A module customization unit, which is used to customize function modules for vehicles that conform to this unified definition;

[0060] A module loading and execution unit for loading each functional module and processing corresponding events in each functional module.

[0061] Furthermore, it further includes a predefined interface unit for implementing customization of each functional module. The predefined interface unit includes a configuration interface, an event service interface, a communication interface, a pathfinder interface, a dispatcher interface, a traffic controller interface, and a vehicle controller interface.

[0062] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve at least the following beneficial effects: The embodiments of the present invention uniformly describe materials, especially their temporary storage, loading and unloading, and transportation specifications, uniformly describe vehicles, especially their categories, models, lists of track forms used, lists of navigation methods used, lists of energy replenishment methods used, and lists of work space numbers allowed to be used, uniformly describe points, work spaces, and transfer orders, determine a unified transportation layout, then formulate relevant functional modules for the unified transportation layout, and load and execute them, so as to develop and deploy a unified transportation control system to dispatch vehicles, thereby significantly reducing the development cost, total cost of ownership, maintenance cost, and labor cost of the relevant transportation control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 It is a schematic flowchart of the unified transportation control method according to the embodiments of the present invention;

[0065] Figure 2 It is a schematic flowchart of the method for determining the transportation layout according to the embodiments of the present invention;

[0066] Figure 3 It is a schematic flowchart of the custom module process according to the embodiments of the present invention;

[0067] Figure 4 It is a schematic flowchart of the process of loading relevant modules and processing relevant events according to the embodiments of the present invention;

[0068] Figure 5 It is a schematic flowchart of the process of obtaining a list of candidate processing vehicle numbers according to the embodiments of the present invention;

[0069] Figure 6 It is a schematic flowchart of the method for obtaining the best candidate route according to the embodiments of the present invention;

[0070] Figure 7 It is a schematic diagram of the interface of the unified transportation control system according to an embodiment of the present invention;

[0071] Figure 8 It is a schematic diagram of the modules of the unified transportation control system according to an embodiment of the present invention. Specific embodiments

[0072] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0073] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. The technical solutions of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0074] As Figure 1 shown, an embodiment of the present invention provides a unified transportation control method for vehicles, including:

[0075] S100. For multiple different types of transportation vehicles and their corresponding control systems, determine a unified transportation layout;

[0076] The unified transportation layout refers to the unified definition of the characteristics including transportation targets, transportation vehicles, working spaces, and transportation tasks;

[0077] As Figure 2 shown, the process of this unified definition specifically includes:

[0078] S110. Determine possible material categories and possible temporary storage spaces for each category of materials. Note: For the input and output materials, their possible categories are usually pre-planned.

[0079] S120. Determine the types of vehicles to be used, especially the track form and navigation method to be used. Note: It should be ensured that for any material category expected to be transported by the vehicle, there is a vehicle category that supports this material category, that is, the size specifications, mass specifications, loading and unloading specifications, and transportation specifications of this category of materials are supported by the vehicle.

[0080] S130. Determine the root working space and divide it into sub-working spaces.

[0081] S140. Determine each map. Note: Especially determine the attributes of each working space, point, section, operation position, or traffic control group expected to be included in the map.

[0082] S150. Determine the list of working spaces of each vehicle in each map.

[0083] S200. Customize function modules for the vehicle that conform to the unified definition;

[0084] The function modules include: a main controller module, a handling order processing module, a transportation layout model module, a pathfinder module, a dispatcher module, a traffic controller module, a vehicle controller module, and a communication module.

[0085] The main controller module is used to load and start including the handling order processing module, the transportation layout model module, the pathfinder module, the dispatcher module, the traffic controller module, the vehicle controller module, and the communication module, and process corresponding events according to the registered events and the corresponding processing methods of the events; the handling order processing module is used to process events corresponding to handling orders; the transportation layout model module is used to load map and vehicle data and process events corresponding to the traffic layout model; the pathfinder module is used to enable vehicles with any attributes to have an autonomous pathfinding function, and implement a pathfinding method to support the vehicle to process pathfinding corresponding events; the dispatcher module is used to process events corresponding to handling orders; the traffic controller module is used to process events corresponding to the transportation layout, including: managing points, operation positions, road sections, and traffic control groups used by vehicles to prevent collisions and circular waiting between vehicles; the vehicle controller module is used to enable the controller module to support vehicles with any attributes, and send commands to the corresponding vehicles through each vehicle controller module to process vehicle corresponding events; the communication module is used to enable communication between vehicles with any attributes and a specified upper-level system.

[0086] In this embodiment, the function modules further include a communication protocol template for communicating with the upper-level system and a communication protocol template for communicating with the vehicle. Specifically, during implementation, refer to Figure 3 as shown, including:

[0087] S201 - S202. If there is no communication protocol in the existing UnifiedTCS (Unified Transportation Control System) that supports the specified upper-level system, implement a communication protocol that supports the upper-level system;

[0088] S211 - S212. If there is no communication module in the existing UnifiedTCS that supports the specified upper-level system, implement a communication module that supports the upper-level system;

[0089] S221 - S222. When there is a certain type of vehicle that is not supported by any vehicle communication protocol in the existing UnifiedTCS, implement a communication protocol that supports the type of vehicle;

[0090] S231 - S232. If there is a vehicle model that is not supported by any vehicle communication module in the existing UnifiedTCS, then implement a communication module that supports this vehicle model;

[0091] S241 - S242. When a vehicle needs to implement the autonomous path - finding function, that is: there is a vehicle model with the ability of autonomous path - finding, and the attribute "using the autonomous path - finding function" of this vehicle is true (correct), and this vehicle model has not implemented the autonomous path - finding function, then implement the autonomous path - finding function for this vehicle model and set the attribute "implemented the autonomous path - finding function" to true;

[0092] S251 - S252. When a vehicle needs to implement a path - finding method, that is: there is a vehicle model with "using the autonomous path - finding function" being false (incorrect) and not expecting to use the existing path - finding methods in UnifiedTCS, then implement a path - finding method that supports this vehicle model;

[0093] S261 - S262. If there is a vehicle model that is not supported by any vehicle controller module in the existing UnifiedTCS, then implement a controller module that supports this vehicle model. Its flowchart is as Figure 3 shown.

[0094] S300. Load each functional module and handle the corresponding events in each functional module.

[0095] As Figure 4 shown, specifically including:

[0096] S310. The main controller module loads and starts other modules, such as the handling order processing module, transportation layout model module, path - finder module, dispatcher module, traffic controller module, vehicle controller module, communication module;

[0097] S320. The handling order module processes events related to handling orders;

[0098] S330. The transportation layout model module loads map and vehicle data and processes events related to the traffic layout model;

[0099] S340. The path - finder module processes path - finding and related events.

[0100] S350. The dispatcher module processes handling orders and related events.

[0101] ① If the handling order processing list is not empty, then for the handling orders in it, sequentially call the method of obtaining the candidate handling vehicle number list.

[0102] Among them, the method of calling the obtaining candidate handling vehicle number list, as Figure 5As shown in the figure, it includes the following steps:

[0103] S501. Initialize an empty list of candidate vehicle numbers;

[0104] S502. Obtain the number of the workspace to which the point corresponding to the starting position of the transfer order belongs, and obtain the starting space number;

[0105] S503. Obtain the number of the workspace to which the point corresponding to the destination position of the transfer order belongs, and obtain the destination space number;

[0106] S504. Obtain the material category corresponding to the material number of the transfer order, and obtain the material category;

[0107] S505. Obtain the list of vehicles with the current working mode being normal in the transportation layout, and obtain the vehicle list;

[0108] S506. If there is no unprocessed vehicle in the vehicle list, jump to S507; otherwise, jump to S508;

[0109] S507. Return the list of candidate vehicle numbers;

[0110] S508. Take the first unprocessed vehicle as the current vehicle;

[0111] S509. If the starting space number is not included in the list of workspace numbers allowed for the vehicle, jump to S506;

[0112] If the destination space number is not included in the list of workspace numbers allowed for the vehicle, jump to S506;

[0113] If the category of the current vehicle does not support the operation name or operation specifications of the transfer order, jump to S506;

[0114] If the model of the current vehicle does not support at least one of the relevant specifications of the material category; the relevant specifications include dimension specifications, mass specifications, storage specifications, loading and unloading specifications, and transportation specifications;

[0115] S510. Currently add the number of the current vehicle to the list of candidate vehicle numbers, and jump to S506.

[0116] ② If the obtained list of candidate vehicle numbers for processing the transfer order is not empty, then call the method for obtaining the best candidate route.

[0117] Among them, the method for obtaining the best candidate route, as Figure 6 shown in the figure, includes the following steps:

[0118] S601. Initialize a triple of vehicle number, route, and route cost, set the vehicle number to -1, the route to be empty, and the route cost to the maximum allowable value;

[0119] S602. If there is no unprocessed vehicle number in the candidate vehicle number list, jump to S603; otherwise, jump to S604;

[0120] S603. Return the triple;

[0121] S604. Take the vehicle corresponding to the first unprocessed vehicle number as the current vehicle;

[0122] S605. If the current vehicle uses the autonomous pathfinding function, jump to S606; otherwise, jump to S607;

[0123] S606. Call the vehicle's autonomous pathfinding function through the vehicle communication module to obtain the best route of the vehicle and its route cost, and jump to S608;

[0124] S607. Obtain the best route of the vehicle and its route cost through the pathfinding method of the pathfinder module, and jump to S608;

[0125] S608. If the obtained route cost is less than the route cost in the triple, jump to S609; otherwise, jump to S602;

[0126] S609. Update the triple according to the current vehicle: set the vehicle number of the triple to the number of the current vehicle, set the route of the triple to the best route of the current vehicle, set the route cost of the triple to the best route cost of the current vehicle, and jump to S602.

[0127] The above route cost is calculated using the RouteCostOperator. The RouteCostOperator is a method for calculating the cost generated when a specified vehicle transports a specified material along a specified route. It takes as input the material, vehicle, route, and a list of route cost factor information, and returns the route cost. The list of route cost factor information contains information on various relevant factors to be considered when calculating the route cost. Examples are: various relevant factors and their conversion methods. The relevant factors include the mass of the material, the space occupied by the material, the transportation distance of the material on this route, the time taken by the vehicle to load and unload the material, the driving time of the vehicle on this route, the number of turns on this route, the estimated loading and unloading waiting time, and the estimated traffic waiting time. Example conversions are: the count of the mass of the material in kilograms is used as the corresponding cost conversion, the sum of the length, width, and height of the space occupied by the material in meters is used as the corresponding cost conversion, the transportation distance of the material on this route in meters is used as the corresponding cost conversion, the time taken by the vehicle to load and unload the material in seconds is used as the corresponding cost conversion, the driving time of the vehicle on this route in seconds is used as the corresponding cost conversion, the product of the number of turns on this route and the average time taken for the complete acceleration and deceleration process of the corresponding vehicle model in seconds is used as the corresponding cost conversion, the estimated loading and unloading waiting time in seconds is used as the corresponding cost conversion, and the estimated traffic waiting time in seconds is used as the corresponding cost conversion. If certain factors do not need to be concerned about, their corresponding cost conversions can be counted as 0. For example, if the material sizes supported by each vehicle in the system are all single and the same, then the factor of the space occupied by the material can be ignored, and the cost conversion corresponding to this factor can be set to 0. The signature of this method described in Java is: double(Material material,Vehicle vehicle,Route route,List <object>routeCostFactorInfo).

[0128] ③ If the obtained list of candidate routes for the transfer order is not empty, notify the traffic controller module to execute the specified route for the specified vehicle.

[0129] ④ If the list of transfer order cancellations is not empty, cancel the transfer orders in it and sequentially call the method of the dispatcher module that can cancel the transfer order.

[0130] ⑤ If the transfer order is cancellable, call the method of the dispatcher module to cancel the transfer order, which notifies the traffic controller module to execute a stop driving or stop working command for the specified vehicle.

[0131] S360. The traffic controller module processes events related to transportation layout.

[0132] ① If it is an event of adding, deleting, or modifying a point, operation position, road section, or traffic control group, for the transfer orders in it, sequentially call the method of obtaining the list of candidate processing vehicles.

[0133] ② If it is a vehicle condition change event, call the transportation layout model module to update the transportation layout model, and / or call the transfer order processing module to update the status of the transfer order.

[0134] ③ If it is a command event related to the execution or cancellation of a transfer order by a vehicle, issue commands to the corresponding vehicle through each vehicle controller module, such as start driving or continue driving, stop driving, start working, stop working.

[0135] Other events are directly forwarded to the corresponding module for processing.

[0136] S370. The vehicle controller module processes vehicle-related events. Obtain the vehicle condition information and / or issue commands to it through the corresponding communication module.

[0137] S380. The communication module communicates with the vehicle or the upper-level system.

[0138] S390. The main controller module processes relevant events according to the registered events and their corresponding processing methods;

[0139] ① If it is a transfer order delivery event, add the corresponding transfer order to the transfer order processing list of the dispatcher module.

[0140] ② If it is a transfer order cancellation event, add the corresponding transfer order to the transfer order cancellation list of the dispatcher module.

[0141] ③ If it is a transportation layout change event, notify the pathfinder module and the dispatcher module that the transportation layout has been updated.

[0142] An embodiment of the present invention further provides a unified transportation control system for vehicles, which specifically includes: a transportation layout determination unit, a module customization unit, and a module loading and execution unit;

[0143] The transportation layout determination unit is used to determine a unified transportation layout for multiple different types of transportation vehicles and their corresponding control systems; the unified transportation layout refers to a unified definition of the characteristics including transportation targets, transportation vehicles, working spaces, and transportation tasks; the specific process of this unified definition includes: determining the material categories of transported materials and the temporary storage spaces for each category of materials, determining the categories of transportation vehicles that support the transportation of each category of materials, determining the root working space for transportation control and dividing sub-working spaces, determining different transportation maps, and the working space lists of each vehicle in each map; the module customization unit is used to customize function modules for the vehicles that conform to this unified definition; the module loading and execution unit is used to load each function module and process the corresponding events in each function module.

[0144] The unified definition of the characteristics of transportation targets, transportation vehicles, and transportation tasks specifically includes:

[0145] The definition of material categories, materials, vehicle categories, vehicle models, vehicle working modes, vehicle states, vehicle conditions, vehicles, point categories, points, job position categories, job positions, road sections, traffic control groups, working spaces, maps, routes, and transfer orders.

[0146] The specific definitions in this embodiment include:

[0147] (1) Material category. The attributes of the material category include: number, name, version number, size specifications, quality specifications, storage specifications, loading and unloading specifications, transportation specifications, and an extended attribute name-value pair list. Among them, the size specifications include maximum length, maximum width, maximum height, minimum length, minimum width, and minimum height; the maximum mass and minimum mass are collectively referred to as quality specifications; storage specifications refer to the conditions that need to be met when storing the material, which can be expressed as a list of name-value pairs, such as "minimum temperature in degrees Celsius = 23", "maximum temperature in degrees Celsius = 25", and "cleanliness level = 100". If there are no special storage conditions, it can be an empty list; loading and unloading specifications refer to the conditions that need to be met when loading and unloading the material, which can be expressed as a list of name-value pairs, such as For example, "maximum drop distance in millimeters = 1", "maximum side pressure in Pascals = 100", "can be placed sideways = false", and "can be placed upside down = false". If there are no special loading and unloading conditions, this list can be empty. Transportation specifications refer to the conditions that need to be met when transporting the material and can be expressed as a list of name-value pairs. For example, "minimum temperature in degrees Celsius = 23", "maximum temperature in degrees Celsius = 25". If there are no special transportation conditions, this list can be empty. Extended attribute name-value pair list is used for extension.

[0148] (2) Material. Material attributes include: number, material category number, version number, status, length, width, height, quality, current location, and an extended list of attribute name-value pairs. Status includes temporary storage, loading and unloading, and transportation. The extended list of attribute name-value pairs is used for expansion.

[0149] (3) Point category. The attributes of a point category include: number, name, version number, and description. Examples of names include "parking point", "reporting point", "loading and unloading point", "parking point", "energy replenishment point", "merging point", "branching point", and "merging into branching point"; examples of descriptions include "normal parking is allowed at this point", "vehicles report when passing this point, but normal parking is not allowed at this point", "materials can be loaded and unloaded at the work station corresponding to this point", "parking is allowed at the work station corresponding to this point", and "energy can be replenished at the work station corresponding to this point".

[0150] (4) Points, corresponding to the vertices of the graph. Point attributes include: number, name, point category number, version number, x-coordinate, y-coordinate, z-coordinate, direction angle, the number of the workspace to which it belongs, and an extended attribute name-value pair list. The extended attribute name-value pair list is used for extension. Vehicles can park normally near some points, but not near some points, and can park normally near some points. When a vehicle's reference point passes through a point, the transportation control system is usually notified.

[0151] (5) Road segment, corresponding to the edge of the graph. The attributes of the road segment include number, name, length, shape category, shape definition, maximum speed, maximum number of vehicles that the road segment can carry simultaneously, and an extended list of property name-value pairs. The extended list of property name-value pairs is used for extension.

[0152] (6) Job position category. The attributes of the job position category include: number, name, version number, description. Examples of the name are "loading and unloading position", "parking position", "energy replenishment position"; examples of the description are "Materials can be loaded and unloaded at this position", "Vehicles can be parked at this position", "Energy can be replenished at this position".

[0153] (7) Job position, the orientation of the vehicle operation mechanism. The attributes of the job position include: number, name, job position category, number of the corresponding point of this job position, x coordinate relative to this corresponding point, y coordinate relative to this corresponding point, z coordinate relative to this corresponding point, direction angle, list of allowed job names and job specification name-value pairs, extended list of property name-value pairs. Examples of job names are: "Loading from the aerial storage", "Unloading to the aerial storage", "Energy replenishment", "Maintenance"; for the job of "Loading from the aerial storage", examples of job specifications are: "Minimum job time in milliseconds = 5000", "Maximum job time in milliseconds = 15000", "IO direction included in the loading location = output"; the extended list of property name-value pairs is used for extension.

[0154] (8) Traffic control group, a set of several points or job positions or road segments, used to control the number or driving direction of vehicles using one or more of these points or job positions or road segments at the same time. It is especially applicable near job positions that are very close to each other and near points where more than one road segment converges. The attributes of the traffic control group include: number, name, category, set of numbers of the points or job positions or road segments included, and extended list of property name-value pairs. Examples of the category are: "Accommodating at most one vehicle at the same time", "Same driving direction"; the extended list of property name-value pairs is used for extension.

[0155] (9) Workspace refers to the space required for vehicle driving or operation, or the space required for temporary storage or loading and unloading of materials. According to the spatial distribution of the workplace, material categories, and vehicle categories, a workspace can be divided into several non-overlapping sub-workspaces. At this time, this workspace is called the parent workspace of these sub-workspaces, and a workspace without a parent workspace is called a root workspace. The attributes of a workspace include: number, name, number of the parent command space, coordinate system definition, set of feature name-value pairs, maximum number of vehicles allowed to be accommodated at the same time, current number of vehicles accommodated, list of extended attribute name-value pairs. Among them, the coordinate system definition includes: number of the workspace relative to, whether the coordinate system definition is the same as that of the workspace relative to, origin, x-axis, y-axis, z-axis of the specified coordinate system; examples of feature name-value pairs are "highest temperature in degrees Celsius = 30", "maximum relative humidity in one-hundredths = 40"; the list of extended attribute name-value pairs is used for extension.

[0156] (10) Map is the general term for the specific definitions of workspaces, points, road segments, operation positions, and traffic control groups in the workplace, including: number, name, version number, generated date and time, list of point categories, list of operation position categories, list of workspaces, list of points, list of road segments, list of operation positions, list of traffic control groups. A map can be stored in a file or database.

[0157] (11) Vehicle category. The attributes of the vehicle category include: number, name, version number, list of supported operation names and operation specifications (time, operation position category, and other restriction lists), list of supported energy replenishment methods, list of supported track forms, list of supported navigation methods, and list of extended attribute name-value pairs. Among them, the track forms include Trackless, Dual Track, Straddle Single Track, and Suspended Single Track. Other forms can be added according to the development of technology or actual needs. Specific vehicle models can use one or more of the track forms; the navigation methods include Non Navigation, Magnetic Stripe Navigation, Magnetic Nail Navigation, Electromagnetic Navigation, Laser Navigation, and Visual Navigation. Other methods can be added according to the development of technology or actual needs. Specific vehicle models can use one or more of the navigation methods; the energy replenishment methods include track wireless power supply, charging, and battery replacement. Other methods can be added according to the development of technology or actual needs. Specific vehicle models can use one or more of the energy replenishment methods; the list of extended attribute name-value pairs is used for extension.

[0158] (12) Vehicle model. The attributes of the vehicle model include: number, name, version number, maximum load capacity, maximum length available for carrying materials, maximum width available for carrying materials, maximum height available for carrying materials, positioning error, motion control error, maximum straight-ahead speed, maximum turning-ahead speed, maximum straight-back speed, maximum turning-back speed, maximum acceleration, maximum deceleration, needs to run on a track, has the ability to find its own path, has achieved the function of finding its own path, list of supported loading and unloading specifications, list of supported transportation specifications, list of supported material sizes, route cost operator, pathfinding method, and list of extended attribute name-value pairs. Among them, the route cost operator is used to calculate the cost when a specified material is loaded, unloaded, and transported along a specified route. It can be a function that takes the material, route, and additional parameters as parameters and returns the cost value. If not specified, the unified transportation control system uses the configured default route cost operator. Examples of route cost operators include the product of the mass of the material and the length of the route, the sum of the loading and unloading time and the time consumed during driving, or the weighted sum of the route length and the total consumption time; the pathfinding method can be customized or use the predefined pathfinding methods in the unified transportation control system; the list of extended attribute name-value pairs is used for extension.

[0159] (13) Vehicle working mode. The vehicle working mode is an enumeration, including: repair mode, maintenance mode, and normal mode. In the repair mode, the vehicle is manually controlled and there is no communication with the transportation control system; in the maintenance mode, the vehicle can replenish energy, update firmware, update software, or update the map; in the normal mode, the vehicle can accept transportation orders or control.

[0160] (14) Vehicle status. The vehicle status reflects the specific status of the vehicle in the current working mode. Examples are: the vehicle status in the repair mode includes unknown; the vehicle status in the normal mode includes debugging, idle, on the way to load goods, on the way to unload goods, and in operation.

[0161] (15) Vehicle condition. The vehicle condition reflects the real-time information of the vehicle, including: vehicle working mode, vehicle status, current location, list of transportation order numbers currently carried, list of sensor name-value pairs, list of extended attribute name-value pairs. Among them, the current location can be represented by the nearest passed or parked point and the offset relative to this point; the list of extended attribute name-value pairs is used for extension.

[0162] (16) Vehicle. The attributes of the vehicle include: number, name, version number, vehicle category number, vehicle model number, length, width, height, self-weight, reference point, parking position, energy replenishment position, list of used track forms, list of used navigation methods, list of used energy replenishment methods, use of autonomous pathfinding function, list of allowed working space numbers, vehicle condition, list of extended attribute name-value pairs. Among them, the reference point is used to represent the position of the vehicle. Some AGVs use their geometric center as the reference point; for vehicles with the autonomous pathfinding attribute being true, the physical vehicle needs to implement the autonomous pathfinding function and provide an interface for external call of this function. This interface is related to; examples of current state sensor name-value pairs are "current speed in millimeters per second = 2000", "motor temperature in degrees Celsius = 50"; the list of extended attribute name-value pairs is used for extension.

[0163] (17) Transportation layout. The attributes of the transportation layout include: name, version number, date and time when this layout is generated, date and time of the most recent update, list of material categories, list of map numbers, list of vehicle numbers, number of the current map. The transportation layout can be stored in a file or database.

[0164] (18) Route, including: starting point, destination point, list of passed points, and optional starting position, optional destination position, optional operations, recommended or actual working space number and list of road segments, list of extended attribute name-value pairs. Among them, the list of extended attribute name-value pairs is used for extension.

[0165] (19) Transfer order, which describes the handling specifications for specified materials. The attributes of the transfer order include: number, material number, starting location, destination list, priority, deadline, planned carrier vehicle number, planned route, actual carrier vehicle number and actual route list, actual start date and time, actual end time, handling result code, material location at the end, and extended attribute name-value pair list. Among them, the destination list contains at least one destination, and a destination contains the location of the destination and a list of actions that the vehicle is to perform at that location; the handling result code is used to indicate the specific situation of handling exceptions, success, or failure, and the extended attribute name-value pair list is used for extension.

[0166] The module customization unit is used to customize function modules for vehicles that conform to the unified definition;

[0167] Such as Figure 7 As shown, the predefined interface unit is used to implement the customization of each function module, including a configuration interface, an event service interface, a communication interface, a pathfinder interface, a dispatcher interface, a traffic controller interface, and a vehicle controller interface.

[0168] Specifically, when implemented:

[0169] The configuration interface (ConfigurationInterface) of the unified transportation control system includes:

[0170] (1) Set configuration item method (SetConfigurationItem). It inputs the name and value of the configuration item and returns whether the configuration item is successfully set. Described in Java language as: public boolean SetConfi gurationItem(Stringname,Object value);.

[0171] (2) Get configuration item method (GetConfigurationItem). It inputs the name of the configuration item and returns the value of the obtained configuration item. Described in Java language as: public Object SetConfigurationI tem(Stringname);.

[0172] The event service interface (EventServiceInterface) of the unified transportation control system includes:

[0173] (1) Register Event Handler Method (RegisterEventHandler). It takes an input event and its corresponding event handling method and returns whether the registration of event handling is successful. Described in Java language as: public boolean RegisterEventHandler(Object event, Function <object>eventHandler);。

[0174] (2) UnregisterEvent (Unregister Event Handling Method). Its input event and the corresponding event handling method return whether the cancellation of event handling is successful. Described in Java as: public boolean UnregisterEvent(Object event,Function <object>eventHandler);.

[0175] The communication interface (CommunicationInterface) of the unified transportation control system includes:

[0176] (1) Open method (Open). It takes the description and options of the communication target as input and returns whether the communication is successfully opened. Among them, the description of the communication target includes IP (Internet Protocol) and Port (computer port). Described in Java language as: public boolean Open(Object targetDescription, String options);.

[0177] (2) Close method (Close). Described in Java language as: public void Close();.

[0178] (3) Open succeeded method (OpenSucceeded). Described in Java language as: public void OpenSucceeded();.

[0179] (4) Open failed method (OpenFailed). Described in Java language as: public void OpenFailed();.

[0180] (5) Closed method (Closed). Described in Java language as: public void Closed();.

[0181] (6) Send message method (SendMessage). It takes the message to be sent as input and returns the send result code. Described in Java language as: public int SendMessage(Object message);.

[0182] (7) When a message is received method (OnReceivedMessage). It takes the received message as input. Described in Java language as: public void OnReceivedMessage(Object message);.

[0183] The route searcher interface (RouteSearcherInterface) of the unified transportation control system includes:

[0184] (1) Transportation Layout Changed Method (TransportationLayoutChanged). Its input is a set of affected workspaces. Described in Java as: public void TransportationLayoutChanged(Set <int>workspaceIds);.

[0185] (2) Method for obtaining a route and its cost (GetRouteAndCosts). It takes as input materials, vehicles, starting positions, destination lists, whether the route needs to be optimal, a list of route cost factor information, additional information, and a route cost operator, and returns the obtained route and the calculated cost of the route. Among them, the destination list contains at least one destination, and a destination contains the position of the destination and a list of actions that the vehicle needs to perform at that position; whether the route needs to be optimal is defaulted to true; the list of route cost factor information contains information on various relevant factors to be considered when calculating the route cost; the additional information optionally contains a list of triples formed by the workspace IDs that the vehicle may pass through in sequence to reach each destination position, the current number of vehicles accommodated in this workspace, and the maximum number of vehicles allowed to be accommodated at the same time in this workspace, and is defaulted to empty. Described in Java as: public Object GetRouteAndCosts(Material material,Vehicle vehicle,Object startingPosition,List <destination>destinations, boolean OptimalRoute Required, List <object>routeCostFactorInfo,Object additionalInfo,Function<Material material,Vehicle vehicle,Route route,List <object>routeCostFactorInfo>routeCostOperator);。

[0186] The dispatcher interface (DispatcherInterface) of the unified transportation control system includes:

[0187] (1) The transportation layout change method (TransportationLayoutChanged). The set of input affected workspaces. Described in Java as: public void TransportationLayoutChanged(Set <int>workspaceIds);。

[0188] (2) Dispatch method (DispatchOrder), which dispatches specified orders with specified options. Its input options and order list. Among the options, 0 means normal order dispatch, 1 means delayed order dispatch, and other values are for extension use, with the default value being 0; the order list is default empty, indicating to dispatch all orders. Described in Java language as: public void Dispatch(int options = 0, List <object>orders = null);

[0189] (3) CancelOrder method, which attempts to cancel a specified order. Its inputs are order number, vehicle number, and option. Among them, if the order number is 0, it means to cancel all orders carried by the vehicle corresponding to the vehicle number; if the vehicle number is 0, it means not to care about the vehicle carrying the order corresponding to the order number; for the option, 0 means normal cancellation, 1 means immediate cancellation, and other values are for future expansion and the default is 0. Described in Java as: public void CancelOrder(long orderId, long vehicleId, int options = 0);

[0190] (4) GetCandidateVehicleIds method to obtain a list of candidate vehicle numbers that can handle a specified order. Its inputs are handling order and transportation layout; it returns a list of candidate vehicle numbers that can handle the specified order. Described in Java as: public List <long>GetCandidateVehicleIds(Object order, Object transportationLayout);。

[0191] (5) Get the optimal candidate route method (GetOptimalCandidateRoute). Its input is a list of vehicle numbers and the transportation layout; it returns a triple of the vehicle number, route, and routing cost corresponding to the optimal candidate route. Described in Java as: public Object GetOptimalCandidateRoute(List <long>vehicleIds, Object transportation Layout);。

[0192] The traffic controller interface (TrafficControlInterface) of the unified transportation control system includes:

[0193] (1) Claim method, claim a specified number of points and / or work positions and / or road sections and / or control blocks for a specified vehicle. Its input is the vehicle number and the list of points and / or work positions and / or road sections and / or control blocks to be claimed. Described in Java language as: void Claim(long vehicleId, List <object>resources);。

[0194] (2) Allocate method, requests to allocate a specified number of points and / or job positions and / or road sections and / or control blocks to a specified vehicle. Its input is the vehicle number and the list of points and / or job positions and / or road sections and / or control blocks to be allocated. Described in Java as: void Allocate(long vehicleId,List <object>resources);。

[0195] (3) Release method (Free), which releases specified points and / or operation positions and / or road sections and / or control blocks for a specified vehicle. Its input is the vehicle number and the list of points and / or operation positions and / or road sections and / or control blocks to be released. Described in Java as: void Free(long vehicleId,List <object>resources);。

[0196] The vehicle controller interface (VehicleControlInterface) of the unified transportation control system includes:

[0197] (1) A method for obtaining the number of the vehicle communication module instance corresponding to the current vehicle controller module instance (GetVehicleCommunicationModuleId). It returns the number of the corresponding vehicle communication module instance. Described in Java as: public long GetVehicleCommunicationModuleId();。

[0198] (2) A method indicating successful allocation (AllocateSucceeded). It is called inside the Allocate method of the traffic controller to indicate successful allocation. Described in Java as: public void AllocateSucceeded(List <object>resources);。

[0199] (3) AllocateFailed method. It is called inside the allocation method of the traffic controller to indicate that the allocation has failed. Described in Java as: public void AllocateFailed(List <object>resources);。

[0200] (4) UpdateOrder method. It updates the transport order corresponding to the specified order number with the mapping of the specified property name-value pairs. Its input is the order number and the mapping of the order property name-value pairs. Described in Java as: public void UpdateOrder(long orderId, Map<string, string> properties);。

[0201] The module loading and execution unit is used to load each functional module and process the corresponding events in each functional module.

[0202] The unified transportation control system (UnifiedTCS) of this embodiment provides a unified common data definition, a communication protocol template for communicating with the upper-level system, a communication protocol template for communicating with the vehicle, a communication interface, a configuration interface, an event service interface, a pathfinder interface, a dispatcher interface, a traffic controller interface, and a vehicle controller interface to the outside, provides a reference implementation of these protocols and interfaces, and includes a unified main controller module, a transportation layout module, a pathfinder module, a dispatcher module, a traffic controller module, a communication protocol related to the upper-level system with specific specifications, a communication module for the upper-level system, a communication protocol related to the vehicle with specific specifications, a communication module for the vehicle, and a vehicle controller module. These modules use methods and devices for maps, vehicles, routes, materials, and transport orders that conform to the above definitions to achieve the unified scheduling of material transport vehicles. Among them, the common data definition includes the definitions of material categories, materials, vehicle categories, vehicle models, vehicle working modes, vehicle states, vehicle conditions, vehicles, point categories, points, job position categories, job positions, road sections, traffic control groups, workspaces, maps, transportation layouts, routes, and transport orders, and related event definitions such as the delivery of transport orders, the revocation of transport orders, and changes in traffic layouts; the main controller module, the transportation layout module, the pathfinder module, the dispatcher module, the traffic controller module, and the vehicle controller module all implement the configuration interface and the event service interface; the traffic controller module manages the points, job positions, road sections, and traffic control groups used by the vehicles to prevent collisions and circular waiting between vehicles, and issues commands to the corresponding vehicles through each vehicle controller module, such as starting to drive or continuing to drive, stopping driving, starting operations, and stopping operations, and updates the transportation layout model and the status of the transport order according to the vehicle condition information obtained by each vehicle controller. The interfaces of the unified transportation control system are as Figure 7 shown, and the modules of the unified transportation control system are as Figure 8 shown. It should be noted that for the sake of convenience of description, only some parts related to the present invention rather than all interfaces or modules are listed.

[0203] The present invention, through the methods of obtaining a list of candidate processing vehicle numbers by a map, transportation layout, and dispenser module, and the method of obtaining the best candidate route by the dispenser module, shields the differences in vehicle driving space specifications; the unified transportation control system provides a unified common data definition, a communication protocol template for communicating with the upper-level system, a communication protocol template for communicating with vehicles, communication interfaces, configuration interfaces, event service interfaces, pathfinder interfaces, dispenser interfaces, traffic controller interfaces, and vehicle controller interfaces, provides a unified main controller module, transportation layout module, pathfinder module, dispenser module, and traffic controller module, provides reference implementations of these protocols and interfaces, as well as several customized communication protocols and modules, and shields the differences in communicating with and controlling specific vehicles.

[0204] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.< / object> < / object> < / object> < / object> < / object> < / long> < / long> < / object> < / int> < / object> < / object> < / destination> < / int> < / object> < / object> < / object>

Claims

1. A unified transportation control method for vehicles, characterized in that: include: Determine a unified transportation layout for multiple different types of transport vehicles and corresponding control systems; The unified transportation layout refers to a unified definition of the characteristics including transportation targets, transportation vehicles, workspaces and transportation tasks; The unified definition process specifically includes: determining the material categories of transport materials and the temporary storage space for each category of materials, determining the types of transport vehicles that support the transportation of each category of materials, determining the root workspace of transportation control and dividing it into sub-workspaces, and determining different transportation maps and the workspace list of each vehicle in each map; Customize functional modules for vehicles that comply with this unified definition; Load each functional module and process the corresponding events in each functional module; Customizing the functional modules for handling different events according to the unified transportation layout; The functional modules include: a main controller module, and a transport order processing module, a transportation layout model module, a pathfinder module, a dispatcher module, a traffic controller module, a vehicle controller module, and a communication module, which are respectively connected to the main controller module; Among them, the workspace refers to the space required for vehicle driving or operation, or the space required for temporary storage or loading and unloading of materials; according to the spatial distribution of the workplace, material category and vehicle category, a workspace can be divided into several non-overlapping sub-workspaces. In this case, the workspace is called the parent workspace of these sub-workspaces, and the workspace without a parent workspace is called the root workspace.

2. The unified transportation control method for vehicles according to claim 1, characterized in that: The transport order processing module is used to process events corresponding to transport orders; The transportation layout model module is used to load maps and vehicle data and process events corresponding to the transportation layout model; The pathfinder module is used to enable vehicles of any attributes to have autonomous pathfinding capabilities, and to implement pathfinding methods that support the vehicles to handle pathfinding corresponding events; The dispatcher module is used to process events corresponding to transport orders; The traffic controller module is used to process events corresponding to the transportation layout, including: managing the points, work positions, road sections and traffic control groups used by vehicles to prevent collisions and circular waiting between vehicles; The vehicle controller module can support vehicles of any attributes and is used to send commands to corresponding vehicles through each vehicle controller module to process corresponding events of the vehicles; The communication module is used to realize communication between a vehicle supporting any attributes and a designated upper system; The main controller module is used to load and start the transport order processing module, transportation layout model module, pathfinder module, dispatcher module, traffic controller module, vehicle controller module, and communication module, and process corresponding events according to the events registered in each module and the corresponding processing methods of the events.

3. The unified transportation control method for vehicles according to claim 2, characterized in that: When the main controller module processes the corresponding event according to the registered event and the corresponding processing method of the event, If it is a transport order delivery event, the corresponding transport order will be added to the transport order processing list of the dispatcher module; If it is a transport order cancellation event, the corresponding transport order will be added to the transport order cancellation list of the dispatcher module; If it is a transportation layout change event, the pathfinder module and dispatcher module are notified that the transportation layout has been updated.

4. The unified transportation control method for vehicles according to claim 2, characterized in that: When the dispatcher module processes the event corresponding to the transport order, If the transport order processing list is not empty, the method of obtaining the candidate processing vehicle number list is called in sequence for each transport order; If the obtained list of candidate vehicle numbers for handling the transport order is not empty, the method for obtaining the best candidate route is called; If the obtained list of candidate routes for the transport order is not empty, the traffic controller module is notified to execute the specified route for the specified vehicle; If the transfer order cancellation list is not empty, cancel the transfer orders in it and call the dispatcher module's cancellation method in sequence; If the transport order is revocable, the cancel transport order method of the dispatcher module is called to notify the traffic controller module to execute a stop driving or stop operation command on the designated vehicle.

5. The unified transportation control method for vehicles according to claim 2, characterized in that: When the traffic controller module processes the events corresponding to the transportation layout, If there are addition, deletion, or modification events for points, workstations, road sections, or traffic control groups, the method for obtaining a list of candidate processing vehicles will be called in sequence for each of the transport orders. If it is a vehicle status change event, the transportation layout model module is called to update the transportation layout model, and / or the transport order processing module is called to update the status of the transport order; If it is a command event for a vehicle to execute or cancel a transport order, a command is sent to the corresponding vehicle through each vehicle controller module.

6. The unified transportation control method for vehicles according to claim 4, characterized in that: The method for obtaining a list of candidate vehicle numbers for processing comprises the following steps: S501. Initialize an empty candidate vehicle number list; S502. Get the workspace number of the point corresponding to the starting position of the transport order and get the starting space number; S503. Get the workspace number of the point corresponding to the destination location of the transport order and obtain the destination space number; S504. Get the material category corresponding to the material number of the transport order and obtain the material category; S505. Get the list of vehicles in normal working mode in the transportation layout and get the vehicle list; S506. If there is no unprocessed vehicle in the vehicle list, jump to S507, otherwise jump to S508; S507. Return the candidate vehicle number list; S508. The first vehicle that has not been processed is used as the current vehicle; S509. If the starting space number is not included in the list of workspace numbers allowed for the vehicle, jump to S506; If the destination space number is not included in the list of workspace numbers allowed for the vehicle, jump to S506; If the current vehicle type does not support the operation name or operation specifications of the transport order, jump to S506; If the current vehicle model does not support at least one of the relevant specifications of the material category, jump to S506; the relevant specifications include size specifications, quality specifications, storage specifications, loading and unloading specifications and transportation specifications; S510. Add the current vehicle number to the candidate vehicle number list and jump to S506.

7. The unified transportation control method for vehicles according to claim 6, characterized in that: The method for obtaining the best candidate route includes the following steps: S601 initializes a triplet of vehicle number, route, and route cost, setting the vehicle number to -1, the route to empty, and the route cost to the maximum allowable value; S602. If there is no unprocessed vehicle number in the candidate vehicle number list, jump to S603, otherwise jump to S604; S603. Return triples; S604. The vehicle corresponding to the first vehicle number that has not been processed is used as the current vehicle; S605. If the current vehicle uses the autonomous pathfinding function, jump to S606, otherwise jump to S607; S606. The vehicle autonomous routing function is called through the vehicle communication module to obtain the optimal route and routing cost of the vehicle, and then jumps to S608; S607. Obtain the optimal route for the vehicle and its routing cost through the pathfinder module, and jump to S608; S608. If the obtained routing cost is less than the routing cost in the triplet, jump to S609, otherwise jump to S602; S609. Update the triplet according to the current vehicle: set the vehicle number of the triplet to the number of the current vehicle, set the route of the triplet to the optimal route of the current vehicle, set the route cost of the triplet to the optimal route cost of the current vehicle, and jump to S602.

8. A unified transportation control system for vehicles, characterized in that: include: A transportation layout determination unit is configured to determine a unified transportation layout for multiple different types of transport vehicles and their corresponding control systems. The unified transportation layout refers to a unified definition of characteristics including transport targets, transport vehicles, workspaces, and transport tasks. The unified definition process specifically includes: determining the material categories of transport materials and the temporary storage space for each category of materials; determining the types of transport vehicles that support the transportation of each category of materials; determining the root workspace of transport control and its sub-workspace division; and determining different transportation maps and a list of workspaces for each vehicle in each map. A module customization unit, used to customize functional modules for vehicles that comply with the unified definition; The module loading and execution unit is used to load each functional module and process the corresponding events in each functional module; A predefined interface unit for implementing customization of each functional module, including a configuration interface, an event service interface, a communication interface, a pathfinder interface, a dispatcher interface, a traffic controller interface, and a vehicle controller interface; Among them, the workspace refers to the space required for vehicle driving or operation, or the space required for temporary storage or loading and unloading of materials; according to the spatial distribution of the workplace, material category and vehicle category, a workspace can be divided into several non-overlapping sub-workspaces. In this case, the workspace is called the parent workspace of these sub-workspaces, and the workspace without a parent workspace is called the root workspace.

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