Unmanned container truck scheduling method and system, and storage medium

Abstract

The application discloses an unmanned truck scheduling method and system and a storage medium, and the method comprises the following steps: a scheduling platform acquires the current position of an unmanned truck and the loading and unloading position corresponding to the unmanned truck through a deviation rectifying system, generates a scheduling task according to the current position of the unmanned truck and the loading and unloading position, and sends the scheduling task to the unmanned truck; the unmanned truck drives to the loading and unloading guiding range corresponding to the unmanned truck according to the scheduling task; and the deviation rectifying system guides the unmanned truck in the loading and unloading guiding range to complete loading and unloading. In the application, the scheduling platform acquires the current position of the unmanned truck and the loading and unloading position corresponding to the unmanned truck, generates a scheduling task, and sends the scheduling task to the unmanned truck; the unmanned truck drives to the corresponding loading and unloading guiding range according to the scheduling task; and then the deviation rectifying system guides to complete loading and unloading. Through the sending of the scheduling task, the unmanned truck receives accurate loading and unloading positions, is guided again by the deviation rectifying system after arriving at the guiding range, and dynamic and accurate scheduling of the unmanned truck is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned vehicles, in particular to an unmanned truck scheduling method and system and a storage medium. BACKGROUND

[0002] An unmanned truck is a self-driving logistics vehicle that uses advanced sensors and navigation technology to recognize the environment and plan a path, completing the process of loading, transporting, and unloading goods. Unmanned trucks not only improve logistics efficiency and reduce labor costs, but also effectively reduce traffic accidents. It can be widely used in warehouse, port, factory and other logistics scenarios, bringing new changes to the modern logistics industry. At the same time, in response to social problems such as population aging and labor shortage, unmanned trucks also have important significance.

[0003] However, when the unmanned truck is used for container transfer operations in the port, the unloading location of the shore crane cannot be determined, and the position of the shore crane needs to be determined in real time and the parking point at the shore crane needs to be found. It is necessary to dynamically plan the precise parking point and complete the loading and unloading. Therefore, it is urgent to determine the position of the shore crane in real time and dynamically and accurately schedule.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide an unmanned truck scheduling method, system and storage medium, which aims to solve the technical problem that the position of the shore crane cannot be determined in real time and dynamically and accurately scheduled in the prior art.

[0006] To achieve the above purpose, the present application provides an unmanned truck scheduling method, which comprises the following steps:

[0007] The scheduling platform obtains the current position of the unmanned truck and the loading and unloading position corresponding to the unmanned truck through the deviation correction system, generates a scheduling task according to the current position of the unmanned truck and the loading and unloading position, and sends the scheduling task to the unmanned truck;

[0008] The unmanned truck drives to the loading and unloading guide range corresponding to the unmanned truck according to the scheduling task;

[0009] The deviation correction system guides the unmanned truck in the loading and unloading guide range to complete the loading and unloading.

[0010] Optionally, the step of guiding the unmanned truck in the loading and unloading guide range to complete the loading and unloading by the deviation correction system comprises:

[0011] The deviation correction device identifies the specifications of the unmanned truck in the loading and unloading guide range;

[0012] When it is identified that the unmanned straddle carrier is of the double small box specification, a front box center point and a rear box center point are obtained by a deviation rectification auxiliary device arranged at a fixed position of the unmanned straddle carrier, and the front box center point and the rear box center point are sent to a deviation rectification device;

[0013] The deviation rectification device adjusts the front box center point and the rear box center point of the unmanned straddle carrier to loading and unloading positions respectively, and completes loading and unloading.

[0014] Optionally, the step of adjusting the front box center point and the rear box center point of the unmanned straddle carrier to loading and unloading positions respectively by the deviation rectification device to complete loading and unloading comprises:

[0015] The deviation rectification device performs real-time scanning on the unmanned straddle carrier;

[0016] The unmanned straddle carrier is guided in real time according to the real-time scanning result;

[0017] Until the longitudinal error between the front box center point of the unmanned straddle carrier and the loading and unloading position is within a preset range, the front box loading and unloading task is completed;

[0018] After the front box loading and unloading task is completed, it is identified whether the rear box is empty;

[0019] If not, the deviation rectification device guides the rear box center point of the unmanned straddle carrier to a position with a longitudinal error lower than a preset range from the loading and unloading position, and completes the loading and unloading task of the rear box.

[0020] Optionally, the step of obtaining the current position of the unmanned straddle carrier and the loading and unloading position corresponding to the unmanned straddle carrier by the scheduling platform through the deviation rectification system comprises:

[0021] The scheduling platform determines the relative position of the unmanned straddle carrier in the corresponding lane through the deviation rectification device, and determines the current position of the unmanned straddle carrier through the corresponding lane information and the relative position;

[0022] The scheduling platform determines whether the loading and unloading position corresponding to the unmanned straddle carrier is in a shore crane area;

[0023] If yes, the scheduling platform obtains a moving area of a spreader corresponding to a loading and unloading area through a deviation rectification auxiliary device arranged at a fixed position in the shore crane area, and determines the loading and unloading position corresponding to the unmanned straddle carrier according to the moving area.

[0024] Optionally, after the step of determining whether the loading and unloading position corresponding to the unmanned straddle carrier is in the shore crane area by the scheduling platform, the method further comprises:

[0025] If not, the scheduling platform detects the yard information to which the loading and unloading position corresponding to the unmanned straddle carrier belongs;

[0026] The scheduling platform determines the loading and unloading position corresponding to the unmanned truck according to the yard information.

[0027] Optionally, the step of generating a scheduling task according to the current position of the unmanned truck and the loading and unloading position comprises:

[0028] The scheduling platform determines the loading path, the unloading path and the loading and unloading plan through a path optimization algorithm according to the current position of the unmanned truck and the loading and unloading position.

[0029] The scheduling task is generated through the loading path, the unloading path and the loading and unloading plan.

[0030] Optionally, the unmanned truck scheduling method further comprises:

[0031] The scheduling platform monitors whether the current high-precision positioning reaches the minimum positioning standard.

[0032] If yes, the scheduling platform firstly performs fuzzy positioning through high-precision positioning, and then obtains the current position of the unmanned truck and the loading and unloading position corresponding to the unmanned truck through the deviation correction system.

[0033] Optionally, the unmanned truck scheduling method further comprises:

[0034] After the unmanned truck enters the loading and unloading guide range, the deviation correction adjustment is automatically triggered to guide the unmanned truck in the loading and unloading guide range to complete loading and unloading through the deviation correction system.

[0035] In addition, in order to achieve the above-mentioned purpose, the application further provides an unmanned truck scheduling system, which comprises a scheduling platform, a deviation correction system and an unmanned truck, and further comprises a memory, a processor and an unmanned truck scheduling program stored in the memory and capable of running on the processor, wherein the unmanned truck scheduling program is configured to implement the steps of the unmanned truck scheduling method as described above.

[0036] In addition, in order to achieve the above-mentioned purpose, the application further provides a storage medium, wherein the storage medium stores an unmanned truck scheduling program, and the unmanned truck scheduling program implements the steps of the unmanned truck scheduling method as described above when executed by a processor.

[0037] The application discloses an unmanned truck scheduling method and system and a storage medium. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structure diagram of an unmanned truck scheduling device related to a hardware running environment of an embodiment scheme of the application.

[0039] Figure 2 A flowchart of a first embodiment of the unmanned truck scheduling method of the application.

[0040] Figure 3 A flowchart of a second embodiment of the unmanned truck scheduling method of the application.

[0041] Figure 4 A front box loading diagram of the second embodiment of the unmanned truck scheduling method of the application.

[0042] Figure 5 A flowchart of a third embodiment of the unmanned truck scheduling method of the application.

[0043] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are intended to explain the application and are not intended to limit the application.

[0045] Reference Figure 1 , Figure 1 A structure diagram of an unmanned truck scheduling device related to a hardware running environment of an embodiment scheme of the application.

[0046] As Figure 1As shown, the unmanned container truck scheduling device can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art can understand that Figure 1 The structure shown in the figure does not constitute a limitation on the unmanned container truck scheduling device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0048] As Figure 1 As shown, the memory 1005 as a storage medium can include an operating system, a data storage module, a network communication module, a user interface module, and an unmanned container truck scheduling program.

[0049] In Figure 1 As shown in the unmanned container truck scheduling device, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the unmanned container truck scheduling device of the present application can be arranged in the unmanned container truck scheduling device, and the unmanned container truck scheduling device calls the unmanned container truck scheduling program stored in the memory 1005 through the processor 1001, and executes the unmanned container truck scheduling method provided by the embodiment of the present application.

[0050] The embodiment of the present application provides an unmanned container truck scheduling method, which refers to Figure 2 , Figure 2 The flowchart of the first embodiment of the unmanned container truck scheduling method of the present application.

[0051] In this embodiment, the unmanned container truck scheduling method includes the following steps:

[0052] Step S10: The scheduling platform obtains the current position of the unmanned container truck and the loading and unloading position corresponding to the unmanned container truck through the deviation rectification system, generates a scheduling task according to the current position of the unmanned container truck and the loading and unloading position, and sends the scheduling task to the unmanned container truck.

[0053] It should be noted that the execution subject of the method of the embodiment can be an unmanned vehicle scheduling device, such as an unmanned container truck scheduling device, which has data processing, network communication, and program running functions. It can also be other electronic devices with the same or similar functions, or a scheduling system loaded with the electronic device. The embodiments and the following embodiments will take the unmanned container truck scheduling device as the execution subject to illustrate the unmanned container truck scheduling method.

[0054] It can be understood that the scheduling platform can be a logistics scheduling platform based on Internet of Things technology and artificial intelligence algorithms. The scheduling platform realizes real-time monitoring and scheduling of vehicles by connecting with the unmanned container truck and the deviation rectification system. The deviation rectification system can be a system that monitors and analyzes the running track of the unmanned container truck based on vehicle sensors and makes corrections and adjustments. The unmanned container truck, also known as unmanned container truck, can not only improve logistics efficiency and reduce labor costs, but also effectively reduce traffic accidents.

[0055] It should be understood that the scheduling platform can obtain the current position of the unmanned container truck and the loading and unloading position corresponding to the unmanned container truck through the deviation rectification system. The visual sensor in the deviation rectification system can obtain the current position of the unmanned container truck and the accurate loading and unloading position to which the unmanned container truck is about to go.

[0056] Further, in order to schedule the unmanned container truck more efficiently, the above step S10 in the embodiment further includes: the scheduling platform determines the loading path, the unloading path, and the loading and unloading plan through a path optimization algorithm according to the current position of the unmanned container truck and the loading and unloading position; and generates a scheduling task through the loading path, the unloading path, and the loading and unloading plan.

[0057] It should be noted that the path optimization algorithm can be an algorithm used by the scheduling platform to generate a path, which is used to optimize the path of the unmanned container truck during transportation. It can be based on intelligent algorithms and mathematical optimization algorithms, etc. The path optimization algorithm will combine the actual transportation demand and the traffic environment of the field area, and find the optimal path by comprehensively considering and optimizing various factors.

[0058] It can be understood that the way of determining the loading path, the unloading path and the loading and unloading plan by the path optimization algorithm can be that the path optimization algorithm determines the loading path, the unloading path and the loading and unloading plan based on the transportation distance, the transportation time, the road conditions of each field area, the traffic conditions of each field area, the vehicle load and the vehicle capacity, etc. Then the scheduling platform generates the scheduling task by integrating the loading path, the unloading path and the loading and unloading plan.

[0059] In a specific implementation, the unmanned straddle carrier and the yard crane and the quay crane can be connected through the scheduling platform to complete data communication. The scheduling platform can generate two different operation points, a loading point P1(a, b) and an unloading point P2(c, d), according to the center point of the unmanned straddle carrier during loading. The two coordinates are the center coordinates of the unmanned straddle carrier during loading and unloading. The scheduling platform plans the path and sends the coordinates of the two operation points P1 and P2 to the unmanned straddle carrier. The unmanned straddle carrier navigates and drives to the operation point coordinates in sequence, and performs loading first and unloading later or unloading first and loading later.

[0060] Step S20: The unmanned straddle carrier drives to the loading and unloading guide range corresponding to the unmanned straddle carrier according to the scheduling task.

[0061] It should be noted that the loading and unloading guide range can be a range centered on a pre-set loading and unloading area, and the size and center point of the range can be adjusted according to the field area information of the quay crane or the yard. The unmanned straddle carrier stops again after driving to the loading and unloading guide range corresponding to the unmanned straddle carrier according to the scheduling task.

[0062] It can be understood that after receiving the scheduling task from the scheduling platform, the unmanned straddle carrier obtains the current driving path and drives to the loading and unloading guide range corresponding to the target loading and unloading area of the unmanned straddle carrier.

[0063] In a specific implementation, after the unmanned straddle carrier enters the loading and unloading guide range, the correction adjustment is automatically triggered to guide the unmanned straddle carrier in the loading and unloading guide range to complete loading and unloading by the correction system.

[0064] Step S30: The correction system guides the unmanned straddle carrier in the loading and unloading guide range to complete loading and unloading.

[0065] It should be noted that during the work process, the spreader of the quay crane and the yard crane only moves horizontally, and the driving direction of the unmanned straddle carrier can be defined as longitudinal, and the horizontal movement direction of the spreader of the quay crane and the yard crane can be defined as transverse.

[0066] It should be understood that the way the deviation correction system guides the unmanned container truck to complete loading and unloading can be that, when the unmanned container truck reaches the loading and unloading guide range, the unmanned container truck stops again, the deviation correction system guides the longitudinal parking distance of the unmanned container truck, and at the same time, the unmanned container truck keeps driving in the center of the unmanned container truck lane in the yard area. When the unmanned container truck approaches the target loading and unloading position, the unmanned container truck slowly adjusts the longitudinal position according to the longitudinal guide distance sent by the deviation correction system until the deviation correction system sends a stop instruction to the unmanned container truck. That is, the center point of the container truck and the center point of the spreader longitudinally coincide, and the unmanned container truck completes loading and unloading.

[0067] In the embodiment, the scheduling platform obtains the current position of the unmanned container truck and the loading and unloading position corresponding to the unmanned container truck through the deviation correction system, generates a scheduling task according to the current position of the unmanned container truck and the loading and unloading position, and sends the scheduling task to the unmanned container truck; the unmanned container truck drives to the loading and unloading guide range corresponding to the unmanned container truck according to the scheduling task; and the deviation correction system guides the unmanned container truck in the loading and unloading guide range to complete loading and unloading. In the present application, the scheduling platform obtains the current position of the unmanned container truck and the loading and unloading position corresponding to the unmanned container truck, generates a scheduling task, and sends the scheduling task to the unmanned container truck; the unmanned container truck drives to the corresponding loading and unloading guide range according to the scheduling task; and then the deviation correction system guides to complete loading and unloading. By sending the scheduling task, the unmanned container truck receives an accurate loading and unloading position, and after reaching the guide range, the deviation correction system completes the re-guidance to complete the dynamic and accurate scheduling of the unmanned container truck.

[0068] Reference Figure 3 , Figure 3 The flowchart of the second embodiment of the unmanned container truck scheduling method of the present application is shown.

[0069] Based on the above embodiments, in the present embodiment, the step S30 can further include:

[0070] Step S301: The deviation correction device identifies the specifications of the unmanned container truck in the loading and unloading guide range.

[0071] It should be noted that the deviation correction system can include a deviation correction device and a deviation correction auxiliary device. The deviation correction device can be a kind of monitoring and analysis of the running track of the unmanned container truck based on sensors such as laser radar and camera. The deviation correction auxiliary device can be an auxiliary device installed at a fixed point for accurate positioning.

[0072] It can be understood that when the deviation correction device guides the unmanned container truck, different specifications of the unmanned container truck have different sizes and shapes, which will affect the driving track of the unmanned container truck; and different specifications of the unmanned container truck can also load different specifications of containers. Therefore, the deviation correction system will guide different specifications of the unmanned container truck differently.

[0073] It should be understood that the way the deviation rectification device identifies the unmanned truck can be through sensor measurement, through devices such as laser radar and visual sensor to measure the size and shape of the unmanned truck, and determine the specification of the unmanned truck according to the measurement result; or through non-contact radio frequency identification technology (RFID) to identify: an RFID tag can be installed on the unmanned truck, and the rectification system reads the tag information to determine the specification of the unmanned truck. The rectification system can also obtain the specification information of the unmanned truck through wireless communication: the rectification system can communicate wirelessly with the sensor or controller on the unmanned truck to obtain the specification information of the unmanned truck.

[0074] Step S302: When it is identified that the unmanned truck is of the double-small-container specification, the front container center point and the rear container center point are obtained through the deviation rectification auxiliary device arranged at the fixed position of the unmanned truck, and the front container center point and the rear container center point are sent to the deviation rectification device.

[0075] It should be noted that the deviation rectification auxiliary device arranged at the fixed position of the unmanned truck can be an onboard unit (OBU) for receiving job point positions and parking deviation rectification guide data from the dispatch platform. Since the unmanned truck is about to load or unload, it is in a long straight line, and the OBU can be fixed in the head of the unmanned truck. At this time, the position of the OBU and the relative position of the front and rear containers are fixed, so when the parking deviation rectification guide is performed, the front container center point and the rear container center point can be determined by the high-precision positioning of the OBU.

[0076] It should be understood that when the deviation rectification device identifies that the unmanned truck is of the double-small-container specification, the front container center point and the rear container center point can be obtained through the OBU arranged in the head of the unmanned truck. After obtaining the point, the front and rear container center points are sent to the deviation rectification device.

[0077] Step S303: The deviation rectification device adjusts the front container center point and the rear container center point of the unmanned truck to the loading and unloading position respectively, and completes the loading and unloading.

[0078] It should be understood that the deviation rectification device stores the accurate point of the loading and unloading position, and the deviation rectification device adjusts the front container point of the unmanned truck to the loading and unloading position by guiding the unmanned truck, and after longitudinal coincidence, the front container loading and unloading is completed; then the rear container point of the unmanned truck is adjusted to the loading and unloading position by guiding the unmanned truck, and after longitudinal coincidence, the rear container loading and unloading is completed.

[0079] Further, in order to improve the accuracy of the unmanned container truck scheduling, the step S303 further includes the following steps: the deviation rectifying device scans the unmanned container truck in real time; the unmanned container truck is guided in real time according to the real-time scanning result; when the longitudinal error between the front box center point of the unmanned container truck and the loading and unloading position is less than the preset range, the front box loading and unloading task is completed; after the front box loading and unloading task is completed, it is determined whether the rear box is empty; if not, the deviation rectifying device guides the rear box center point of the unmanned container truck to the loading and unloading position, and when the longitudinal error is less than the preset range, the rear box loading and unloading task is completed.

[0080] It can be understood that the real-time scanning of the deviation rectifying device on the unmanned container truck can be through the laser radar to scan the unmanned container truck in real time, and through the laser radar to obtain the real-time position of the unmanned container truck and the deviation from the loading and unloading position. It can also be through the visual sensor to scan the unmanned container truck in real time, and through the visual sensor to identify and analyze the image of the unmanned container truck and the surrounding path to determine the real-time position and perform real-time control and adjustment. It can also be through the magnetic force sensor to scan the unmanned container truck in real time, and through the magnetic force sensor installed on the ground by the deviation rectifying system to monitor the change of the magnetic field to determine the position and direction of the unmanned container truck to realize the guidance of the unmanned container truck.

[0081] In a specific implementation, the scheduling platform can generate two different operation points according to the front box position when loading and the front box position when unloading, the loading point P1(a, b) and the unloading point P2(c, d), and the two coordinates are the center coordinates of the front box when loading and unloading. The scheduling platform plans the path and sends the two operation point P1 and P2 coordinates to the unmanned container truck. The unmanned container truck navigates and drives in sequence to the operation point coordinates, and performs loading first and unloading second or unloading first and loading second.

[0082] Referring to Figure 4 , Figure 4 It is a front box loading schematic diagram of the second embodiment of the unmanned container truck scheduling method of the present application. As Figure 4 shown, the overall area represents the loading and unloading area, the RSU is used to position the accurate loading position, and the OBU is used to position the accurate front box center point.

[0083] Wherein, when the unmanned truck arrives at the guiding range of P1 position, the deviation correction system is triggered to detect, the deviation correction system guides the longitudinal parking distance of the vehicle, the unmanned truck keeps driving in the center of the lane, longitudinal position adjustment is performed again, the front container center A of the unmanned truck is close to P1 in the longitudinal direction, the longitudinal guiding distance collected and sent by the road side device (RSU) is slowly adjusted until the deviation correction system displays "parking", that is, A coincides with P1; then the spreader grabs the container from the unmanned truck and completes horizontal transportation and container unloading, when the spreader rises to a certain height, the deviation correction system is operated again, the rear empty pallet is detected, and the rear container longitudinal guiding value is regenerated, the unmanned truck continues to adjust according to the longitudinal guiding value, that is, the B point of the unmanned truck is close to P1 in the longitudinal direction, until the deviation correction system displays "parking", that is, B coincides with P1, and the container loading is completed.

[0084] Further, when the unmanned truck arrives at a certain range of P2 position, the deviation correction system is triggered to detect, the deviation correction system guides the longitudinal parking distance of the vehicle, the unmanned truck keeps driving in the center of the lane, longitudinal position adjustment is performed again, the front container center A of the unmanned truck is close to P2 in the longitudinal direction, the longitudinal guiding distance collected and sent by the RSU is slowly adjusted until the parking is accurate and the deviation correction system displays "parking", that is, A coincides with P2; then the spreader grabs the container from the unmanned truck and completes horizontal transportation and container unloading, when the spreader rises to a certain height, the deviation correction system is operated again, the rear container is detected, and the rear container longitudinal guiding value is regenerated, the unmanned truck continues to adjust according to the longitudinal guiding value, that is, the B point of the unmanned truck is close to P2 in the longitudinal direction, until the deviation correction system displays "parking", that is, B coincides with P2, and the container unloading is completed.

[0085] In the embodiment, the deviation correction device identifies the specification of the unmanned truck in the loading and unloading guiding range; when the unmanned truck is identified as a double small container specification, the deviation correction auxiliary device arranged on the fixed position of the unmanned truck acquires the front container center point and the rear container center point, and sends the front container center point and the rear container center point to the deviation correction device; the deviation correction device adjusts the front container center point and the rear container center point of the unmanned truck to the loading and unloading position respectively, and completes loading and unloading. This embodiment can further improve the accuracy of the unmanned truck scheduling by identifying the specification of the unmanned truck and guiding the center point to the accurate loading and unloading position, and completing dynamic and accurate scheduling.

[0086] Reference Figure 5 , Figure 5 The flowchart of the third embodiment of the unmanned truck scheduling method of the application is shown.

[0087] Based on the above-mentioned first embodiment, in this embodiment, the step S10 comprises:

[0088] Step S101: The scheduling platform determines the relative position of the unmanned truck in the corresponding lane through the deviation rectification device, and determines the current position of the unmanned truck through the corresponding lane information and the relative position.

[0089] It should be noted that the deviation rectification system can include a deviation rectification device and a deviation rectification auxiliary device. The deviation rectification device can be a kind of monitoring and analysis of the running track of the unmanned truck based on sensors such as laser radar and camera. The deviation rectification auxiliary device can be an auxiliary device installed at a fixed point for accurate positioning.

[0090] It can be understood that the way the scheduling platform determines the relative position of the unmanned truck in the corresponding lane through the deviation rectification device can be through the visual sensor in the deviation rectification device to identify the current lane of the unmanned truck and the relative position of the unmanned truck on the current lane. The deviation rectification device determines the current position of the unmanned truck by sending the current lane information and the position of the unmanned truck relative to the current lane to the scheduling platform.

[0091] Step S102: The scheduling platform determines whether the loading and unloading position corresponding to the unmanned truck is in the quay crane area.

[0092] It should be noted that in the working process, in order to more efficiently obtain accurate loading and unloading positions, two kinds of scheduling modes will be performed on the loading and unloading tasks in the quay crane area and the loading and unloading tasks in the yard area, respectively.

[0093] It should be understood that before the scheduling platform generates a scheduling task, the loading and unloading position corresponding to the unmanned truck will be preliminarily identified to determine whether the loading and unloading position corresponding to the unmanned truck is in the quay crane area.

[0094] Step S103: If yes, the scheduling platform obtains the moving area of the corresponding spreader in the loading and unloading area through the deviation rectification auxiliary device arranged at the fixed position in the quay crane area, and determines the loading and unloading position corresponding to the unmanned truck according to the moving area.

[0095] It should be noted that the deviation rectification auxiliary device arranged at the fixed position in the quay crane area can be an RSU device. Since the high-precision positioning in the quay crane area is not completely stable, the relative position of the spreader center point and the RSU device can be obtained through the RSU device. The scheduling platform obtains the moving area of the corresponding spreader in the loading and unloading area according to the RSU device, and determines the loading and unloading position corresponding to the unmanned truck according to the moving area.

[0096] Further, in order to make the unmanned truck scheduling more efficient, after step S102, it further includes: if no, the scheduling platform detects the yard information to which the loading and unloading position corresponding to the unmanned truck belongs; and the scheduling platform determines the loading and unloading position corresponding to the unmanned truck according to the yard information.

[0097] It can be understood that if the loading and unloading position corresponding to the unmanned straddle carrier is in the yard area, the scheduling platform detects the yard information to which the loading and unloading position corresponding to the unmanned straddle carrier belongs; the center point coordinates of the target placement position bay are determined according to the yard number, the channel number and the bay number corresponding to the yard, and the loading and unloading position corresponding to the unmanned straddle carrier is automatically matched and determined after the box number is recognized.

[0098] In a specific implementation, in order to accurately position more efficiently, the scheduling platform can monitor whether the current high-precision positioning reaches the minimum positioning standard, and the minimum positioning standard can refer to that the deviation value of the current high-precision positioning is within a preset range; if the minimum positioning standard is reached, the scheduling platform can first perform fuzzy positioning through high-precision positioning, and then obtain the current position of the unmanned straddle carrier and the loading and unloading position corresponding to the unmanned straddle carrier through the deviation correction system.

[0099] In this embodiment, the scheduling platform determines the relative position of the unmanned straddle carrier in the corresponding lane through the deviation correction device, determines the current position of the unmanned straddle carrier through the corresponding lane information and the relative position, judges whether the loading and unloading position corresponding to the unmanned straddle carrier is in the shore-to-ship crane area, and if so, obtains the moving area of the corresponding spreader of the loading and unloading area through the deviation correction auxiliary device arranged at the fixed position in the shore-to-ship crane area, and determines the loading and unloading position corresponding to the unmanned straddle carrier according to the moving area. In this embodiment, the accurate current position of the unmanned straddle carrier and the loading and unloading position corresponding to the unmanned straddle carrier are obtained through the deviation correction device. The accuracy of the target loading and unloading position can be ensured, subsequent scheduling tasks can be more reasonably arranged, and the accuracy of dynamic scheduling is effectively improved.

[0100] In addition, the embodiment of the present application also provides a storage medium, and the storage medium stores an unmanned straddle carrier scheduling program. When the unmanned straddle carrier scheduling program is executed by a processor, the steps of the unmanned straddle carrier scheduling method described above are implemented.

[0101] It should be noted that in this document, the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or system that includes the element.

[0102] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned example method can be realized by means of software and a necessary general hardware platform, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk) and includes a number of instructions for causing an end device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method described in each embodiment of the present application.

[0104] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for scheduling unmanned trucks, characterized in that, The unmanned truck scheduling method is applied to an unmanned truck scheduling system, which includes: a scheduling platform, a deviation correction system, and unmanned trucks; the deviation correction system includes: deviation correction equipment and deviation correction auxiliary devices; the unmanned truck scheduling method includes the following steps: The dispatching platform obtains the current location of the unmanned truck and the corresponding loading and unloading location of the unmanned truck through the correction system, generates a dispatching task based on the current location of the unmanned truck and the loading and unloading location, and sends the dispatching task to the unmanned truck. The unmanned truck travels to the loading and unloading guidance range corresponding to the unmanned truck according to the scheduling task; The correction system guides the unmanned trucks within the loading and unloading guidance range to complete loading and unloading; The correction system guides unmanned trucks within the loading and unloading guidance range to complete the loading and unloading steps, including: The correction device identifies the specifications of the unmanned trucks within the loading and unloading guidance range; When the unmanned truck is identified as having a double small box configuration, the center point of the front box and the center point of the rear box are obtained by a correction auxiliary device set at a fixed position on the unmanned truck, and the center point of the front box and the center point of the rear box are sent to the correction equipment. The correction device scans the unmanned truck in real time; The unmanned truck is guided in real time based on the real-time scanning results; The loading and unloading task of the front box is completed when the longitudinal error between the center point of the front box of the unmanned truck and the loading and unloading position does not exceed the preset range. After completing the front box loading and unloading task, identify whether the rear box is empty; If not, the correction device guides the center point of the rear box of the unmanned truck to a position where the longitudinal error with the loading and unloading position is less than a preset range, and then completes the loading and unloading task of the rear box. The steps by which the dispatching platform obtains the current position of the unmanned truck and its corresponding loading / unloading position through the correction system include: The dispatching platform determines the relative position of the unmanned truck in the corresponding lane through the correction device, and determines the current position of the unmanned truck through the corresponding lane information and the relative position. The dispatching platform determines whether the loading and unloading location corresponding to the unmanned container truck is located in the quay crane area; If so, the dispatching platform obtains the movement area of ​​the spreader corresponding to the loading and unloading area through a correction auxiliary device set at a fixed position in the quay crane area, and determines the loading and unloading position corresponding to the unmanned truck based on the movement area.

2. The method as described in claim 1, characterized in that, After the dispatching platform determines whether the loading / unloading location corresponding to the unmanned container truck is within the quay crane area, it also includes: If not, the scheduling platform detects the yard information to which the loading and unloading location corresponding to the unmanned truck belongs; The scheduling platform determines the loading and unloading position of the unmanned truck based on the yard information.

3. The method according to any one of claims 1-2, characterized in that, The step of generating a scheduling task based on the current location of the unmanned truck and the loading / unloading location includes: The scheduling platform determines the loading path, unloading path, and loading / unloading plan based on the current location of the unmanned container truck and the loading / unloading location using a path optimization algorithm. The loading path, the unloading path, and the loading / unloading plan are used to generate scheduling tasks.

4. The method according to any one of claims 1-2, characterized in that, The unmanned truck scheduling method also includes: The scheduling platform monitors whether the current high-precision positioning has reached the minimum positioning standard; If so, the scheduling platform first performs fuzzy positioning through high-precision positioning, and then obtains the current position of the unmanned truck and the corresponding loading and unloading position of the unmanned truck through the correction system.

5. The method according to any one of claims 1-2, characterized in that, The unmanned truck scheduling method also includes: After the unmanned truck enters the loading and unloading guidance range, it automatically triggers a correction adjustment so that the correction system guides the unmanned truck within the loading and unloading guidance range to complete the loading and unloading.

6. An unmanned truck dispatching system, characterized in that, The unmanned truck scheduling system includes: a scheduling platform, a correction system, and unmanned trucks. The system further includes: a memory, a processor, and an unmanned truck scheduling program stored in the memory and executable on the processor. The unmanned truck scheduling program is configured to implement the steps of the unmanned truck scheduling method as described in any one of claims 1 to 5.

7. A storage medium, characterized in that, The storage medium stores an unmanned truck scheduling program, which, when executed by a processor, implements the steps of the unmanned truck scheduling method as described in any one of claims 1 to 5.

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