A vehicle dispatching method, apparatus and equipment

Abstract

This invention provides a vehicle dispatching method, apparatus, and equipment. The vehicle dispatching method includes: determining candidate vehicles capable of replacing the target vehicle to complete the remaining target tasks when a target vehicle in a work area malfunctions; determining dispatchable vehicles among the candidate vehicles based on the number of transports the candidate vehicles can support during the remaining target tasks; and sending control commands to at least one dispatchable vehicle to cause the dispatchable vehicle to replace the target vehicle to complete the remaining target tasks. This invention enables dispatchable vehicles to fill the gaps left by malfunctioning vehicles in a work area and support subsequent remaining tasks, thus solving the problem of reduced loading and unloading throughput in the work area due to a decrease in the number of working vehicles.

Description

Technical Field

[0001] This invention relates to the field of Internet of Things (IoT) technology, and in particular to a vehicle dispatching method, apparatus, and device. Background Technology

[0002] With the trend of intelligent development in logistics parks, ports, mining areas, and oil fields, the automation transformation of horizontal transportation in work areas is extremely urgent. Considering the costs of work area transformation, transportation vehicle costs, long-term operating costs, and green energy conservation, the use of driverless electric vehicles for transportation has become the main direction of transformation. When driverless electric vehicles are deployed in large numbers, vehicle malfunctions will inevitably occur. These malfunctions generally fall into three categories: first, damage caused by collisions, aging parts, etc.; second, malfunction of onboard communication equipment; and third, insufficient battery power. When the first two types of malfunctions occur, the driverless electric vehicle will be transported to the repair area by relevant personnel for repair, suspending operations. When the third type of malfunction occurs, the remote control system sends a charging command to the driverless electric vehicle, which then drives to the charging area to charge, suspending operations. At this time, all three types of malfunctions will reduce the number of working vehicles, which will lead to a decrease in the loading and unloading throughput of the work area. Summary of the Invention

[0003] This invention provides a vehicle scheduling method, apparatus, and equipment to address the problem of reduced loading and unloading throughput in work areas due to a decrease in the number of working vehicles in the prior art.

[0004] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0005] This invention provides a vehicle dispatching method, including:

[0006] In the event that the target vehicle in the work area malfunctions, a candidate vehicle that can take over the target vehicle to complete the remaining target work is identified.

[0007] Based on the number of transport trips that the candidate vehicles can support while performing the remaining target operations, the dispatchable vehicles among the candidate vehicles are determined;

[0008] Send control commands to at least one dispatchable vehicle to enable the dispatchable vehicle to take over from the target vehicle and complete the remaining target task.

[0009] Optionally, determining the candidate vehicle capable of replacing the target vehicle to complete the remaining target tasks includes:

[0010] Candidate vehicles that can replace the target vehicle to complete the remaining target tasks are determined according to the preset priority of vehicles located in different areas of the work area from high to low.

[0011] Optionally, the candidate vehicle includes at least one of the following:

[0012] The first vehicle is located upstream of the target loading area where the target vehicle malfunctioned, and its current loading capacity is less than the maximum loading capacity. The location of the target loading area is determined based on the target vehicle's path planning information, vehicle positioning information, current operation instructions, and preset rules. The current operation instructions include information for instructing the target vehicle to perform bidirectional or unidirectional operations.

[0013] A second vehicle located within the work area and in an idle state;

[0014] The third vehicle located in the parking lot corresponding to the work area;

[0015] The first vehicle has a higher preset priority than the second vehicle, and the second vehicle has a higher preset priority than the third vehicle.

[0016] Optionally, before determining the dispatchable vehicles among the candidate vehicles based on the number of transports the candidate vehicles can support during the remaining target operations, the method further includes:

[0017] Determine the number of transport trips that the candidate vehicle can support while performing the remaining target operations.

[0018] Optionally, determining the number of transport trips that the candidate vehicle can support while performing the remaining target operations includes:

[0019] Based on the candidate vehicle's current remaining battery power, experienced power consumption, first power consumption, energy consumption per unit mass per unit distance, energy utilization rate, vehicle weight, maximum load capacity, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target task, distance between the end point of the remaining target task and the target loading area where the target vehicle malfunctions, and the task type of the remaining target task, determine the number of transport trips the candidate vehicle can support when performing the remaining target task.

[0020] Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

[0021] Optionally, determining the dispatchable vehicles among the candidate vehicles based on the number of transports the candidate vehicles can support during the remaining target operations includes:

[0022] The number of tasks that the candidate vehicle can support when performing the remaining target operations is determined based on the number of transports it can support.

[0023] Based on the available task volume, determine the dispatchable vehicles among the candidate vehicles.

[0024] Optionally, determining the workload that the candidate vehicle can support during the remaining target operations based on the number of transport trips it can support during the remaining target operations includes:

[0025] The number of transport trips each candidate vehicle can support, its remaining load capacity, and the preset unit task quantity calculation value are used to determine the number of tasks each candidate vehicle can support.

[0026] The remaining load capacity is determined based on the maximum load capacity and current load capacity of the candidate vehicle.

[0027] Optionally, determining the dispatchable vehicles among the candidate vehicles based on the supported task volume includes:

[0028] If, in accordance with the order of sub-priority of each first vehicle among the candidate vehicles from high to low, the total number of tasks that the first sub-vehicles among the first vehicles can support is greater than or equal to the number of tasks of the remaining target operation, then the dispatchable vehicle is determined to include the first sub-vehicles; the first sub-vehicles are at least one of the first vehicles.

[0029] If the total number of tasks that the first vehicles in the candidate vehicles can support is less than the total number of tasks for the remaining target operation, and if the total number of tasks that the second sub-vehicles in the second vehicles can support is greater than or equal to the total number of tasks for the first target operation, then the dispatchable vehicles include the first vehicles and the second sub-vehicles; the second sub-vehicles are at least one of the second vehicles; the total number of tasks for the first target operation is the total number of tasks for the remaining target operation excluding the total number of tasks that the first vehicles can support.

[0030] If the sum of the task capacity of the first vehicle and the second vehicle among the candidate vehicles is less than the task capacity of the remaining target operation, and the sub-priority of each third vehicle among the candidate vehicles is determined from high to low, and the sum of the task capacity of the third sub-vehicles among the third vehicles is greater than or equal to the task capacity of the second target operation, then the dispatchable vehicles include the first vehicle, the second vehicle, and the third sub-vehicle; the third sub-vehicle is at least one of the third vehicles; the task capacity of the second target operation is the task capacity of the remaining target operation excluding the sum of the task capacity of the first vehicle and the task capacity of the second vehicle.

[0031] Optionally, the method further includes:

[0032] The sub-priority of each candidate vehicle is determined based on the distance between the current location of each candidate vehicle and the target loading area where the target vehicle malfunctioned.

[0033] The closer the current location of the candidate vehicle is to the target loading area where the target vehicle malfunctions, the higher the sub-priority of the candidate vehicle.

[0034] The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

[0035] Optionally, sending control commands to at least one schedulable vehicle includes:

[0036] The control command is sent to each of the schedulable vehicles in descending order of priority and in descending order of sub-priority.

[0037] This invention also provides a vehicle dispatching device, comprising:

[0038] The first determining module is used to determine a candidate vehicle that can take over the remaining target operation when the target vehicle in the work area fails.

[0039] The second determining module is used to determine the dispatchable vehicles among the candidate vehicles based on the number of transports that the candidate vehicles can support when performing the remaining target operations.

[0040] A sending module is used to send control commands to at least one schedulable vehicle so that the schedulable vehicle can take over from the target vehicle to complete the remaining target task.

[0041] Optionally, the first determining module includes:

[0042] The first determining unit is used to determine, according to the preset priority of vehicles located in different areas of the work area from high to low, candidate vehicles that can replace the target vehicle to complete the remaining target work.

[0043] Optionally, the candidate vehicle includes at least one of the following:

[0044] The first vehicle is located upstream of the target loading area where the target vehicle malfunctioned, and its current loading capacity is less than the maximum loading capacity. The location of the target loading area is determined based on the target vehicle's path planning information, vehicle positioning information, current operation instructions, and preset rules. The current operation instructions include information for instructing the target vehicle to perform bidirectional or unidirectional operations.

[0045] A second vehicle located within the work area and in an idle state;

[0046] The third vehicle located in the parking lot corresponding to the work area;

[0047] The first vehicle has a higher preset priority than the second vehicle, and the second vehicle has a higher preset priority than the third vehicle.

[0048] Optionally, the device further includes:

[0049] The third determining module is used to determine the number of transport trips that the candidate vehicle can support when performing the remaining target operations.

[0050] Optionally, the third determining module includes:

[0051] The second determining unit is used to determine the number of transport trips that the candidate vehicle can support when performing the remaining target operation based on the candidate vehicle's current remaining power, empirical power consumption, first power consumption, energy consumption per unit mass per unit distance, power utilization rate, vehicle weight, maximum load, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target operation, distance between the end point of the remaining target operation and the target loading area where the target vehicle malfunctions, and the operation type of the remaining target operation.

[0052] Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

[0053] Optionally, the second determining module includes:

[0054] The third determining unit is used to determine the amount of tasks that the candidate vehicle can support when performing the remaining target operations, based on the number of transports that the candidate vehicle can support when performing the remaining target operations.

[0055] The fourth determining unit is used to determine the dispatchable vehicles among the candidate vehicles based on the available task volume.

[0056] Optionally, the third determining unit is specifically used for:

[0057] The number of transport trips each candidate vehicle can support, its remaining load capacity, and the preset unit task quantity calculation value are used to determine the number of tasks each candidate vehicle can support.

[0058] The remaining load capacity is determined based on the maximum load capacity and current load capacity of the candidate vehicle.

[0059] Optionally, the fourth determining unit is specifically used for:

[0060] If, in accordance with the order of sub-priority of each first vehicle among the candidate vehicles from high to low, the total number of tasks that the first sub-vehicles among the first vehicles can support is greater than or equal to the number of tasks of the remaining target operation, then the dispatchable vehicle is determined to include the first sub-vehicles; the first sub-vehicles are at least one of the first vehicles.

[0061] If the total number of tasks that the first vehicles in the candidate vehicles can support is less than the total number of tasks for the remaining target operation, and if the total number of tasks that the second sub-vehicles in the second vehicles can support is greater than or equal to the total number of tasks for the first target operation, then the dispatchable vehicles include the first vehicles and the second sub-vehicles; the second sub-vehicles are at least one of the second vehicles; the total number of tasks for the first target operation is the total number of tasks for the remaining target operation excluding the total number of tasks that the first vehicles can support.

[0062] If the sum of the task capacity of the first vehicle and the second vehicle among the candidate vehicles is less than the task capacity of the remaining target operation, and the sub-priority of each third vehicle among the candidate vehicles is determined from high to low, and the sum of the task capacity of the third sub-vehicles among the third vehicles is greater than or equal to the task capacity of the second target operation, then the dispatchable vehicles include the first vehicle, the second vehicle, and the third sub-vehicle; the third sub-vehicle is at least one of the third vehicles; the task capacity of the second target operation is the task capacity of the remaining target operation excluding the sum of the task capacity of the first vehicle and the task capacity of the second vehicle.

[0063] Optionally, the fourth determining unit is further configured to:

[0064] The sub-priority of each candidate vehicle is determined based on the distance between the current location of each candidate vehicle and the target loading area where the target vehicle malfunctioned.

[0065] The closer the current location of the candidate vehicle is to the target loading area where the target vehicle malfunctions, the higher the sub-priority of the candidate vehicle.

[0066] The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

[0067] Optionally, the sending module includes:

[0068] The sending unit is configured to send the control command to each of the schedulable vehicles in descending order of priority and in descending order of sub-priority of each of the schedulable vehicles.

[0069] This invention also provides a vehicle dispatching device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the vehicle dispatching method as described above.

[0070] This invention also provides a readable storage medium storing a program, which, when executed by a processor, implements the steps of the vehicle scheduling method as described above.

[0071] The beneficial effects of this invention are:

[0072] The present invention addresses the issue of reduced loading and unloading throughput in a work area when a target vehicle malfunctions. This involves identifying candidate vehicles capable of replacing the target vehicle and completing the remaining target tasks. Based on the number of transport trips each candidate vehicle can support during the remaining tasks, a dispatchable vehicle is determined from among the candidate vehicles. Control commands are then sent to at least one dispatchable vehicle to allow it to take over the remaining target tasks. This solution enables dispatchable vehicles to fill the gaps left by malfunctioning vehicles and support subsequent remaining tasks, thus resolving the problem of reduced loading and unloading throughput in the work area due to a decrease in the number of working vehicles. Attached Figure Description

[0073] Figure 1 One of the flowcharts represents a vehicle dispatching method provided in an embodiment of the present invention;

[0074] Figure 2 The second flowchart illustrates the vehicle dispatching method provided in this embodiment of the invention.

[0075] Figure 3 This is a schematic diagram of the vehicle dispatching device provided in an embodiment of the present invention;

[0076] Figure 4 This is a schematic diagram illustrating the structure of the vehicle dispatching equipment provided in an embodiment of the present invention. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0078] This invention addresses the problem of reduced loading and unloading throughput in work areas due to a decrease in the number of working vehicles in the prior art by providing a vehicle scheduling method, apparatus, and equipment.

[0079] like Figure 1 As shown, an embodiment of the present invention provides a vehicle dispatching method, including:

[0080] Step 101: If the target vehicle in the work area malfunctions, determine a candidate vehicle that can take over the target vehicle to complete the remaining target work.

[0081] It should be noted that the target vehicle malfunction in the embodiments of the present invention can refer to the target vehicle being damaged, the target vehicle's on-board communication equipment malfunctioning, or the target vehicle having insufficient power.

[0082] The target vehicle can be any horizontal transport vehicle within the work area.

[0083] The target vehicle can be an autonomous electric vehicle.

[0084] In this step, if any target vehicle (autonomous electric vehicle) malfunctions in the work area, the target vehicle ceases operation. A support vehicle (a dispatchable vehicle) is required to take over and complete the remaining target tasks, which include loading / unloading area operations and horizontal transport tasks. The dispatchable vehicle must be selected from a candidate vehicle set. In the event of a target vehicle malfunction, a candidate vehicle capable of taking over and completing the remaining target tasks is first identified.

[0085] Step 102: Determine the dispatchable vehicles among the candidate vehicles based on the number of transports that the candidate vehicles can support when performing the remaining target operations.

[0086] After identifying the candidate vehicles in the candidate set, the transportation capacity of the candidate vehicles is assessed. During the assessment, the corresponding candidate vehicle is added to the assessment set. If a candidate vehicle is determined to be able to take over the remaining target operation from the target vehicle, it is added to the scheduling set and becomes a dispatchable vehicle.

[0087] Specifically, in this step, the number of transport trips that the candidate vehicles can support when performing the remaining target operations is determined, and the determination result is obtained. Based on the determination result, dispatchable vehicles are selected from the candidate vehicles.

[0088] Step 103: Send a control command to at least one dispatchable vehicle to enable the dispatchable vehicle to take over from the target vehicle and complete the remaining target task.

[0089] In this step, after determining the available vehicles, a control command is sent to at least one available vehicle. The available vehicle receives the control command and completes the remaining target tasks according to the control command.

[0090] Optionally, sending control instructions to at least one dispatchable vehicle can be done by sending control instructions to each of the dispatchable vehicles sequentially. When there are two or more dispatchable vehicles, sending control instructions to at least one dispatchable vehicle can also be done by sending control instructions to multiple dispatchable vehicles simultaneously.

[0091] In this embodiment of the invention, when a target vehicle in the work area malfunctions, a candidate vehicle capable of replacing the target vehicle to complete the remaining target work is determined. Based on the number of transports that the candidate vehicle can support while performing the remaining target work, a dispatchable vehicle is determined from the candidate vehicles. A control command is sent to at least one dispatchable vehicle so that the dispatchable vehicle can replace the target vehicle to complete the remaining target work. This enables the use of dispatchable vehicles to fill the gap left by the malfunctioning vehicle in the work area and support the subsequent remaining work, thus solving the problem of reduced loading and unloading throughput in the work area due to a decrease in the number of working vehicles.

[0092] Optionally, determining the candidate vehicle capable of replacing the target vehicle to complete the remaining target tasks includes:

[0093] Candidate vehicles that can replace the target vehicle to complete the remaining target tasks are determined according to the preset priority of vehicles located in different areas of the work area from high to low.

[0094] It should be noted that when determining candidate vehicles capable of replacing the target vehicle to complete the remaining target tasks, the candidate vehicles are selected in descending order of their preset priorities based on the different areas of the work area. That is, vehicles in different areas of the work area are assigned different priorities, and candidate vehicles are selected according to the priority order.

[0095] Optionally, the candidate vehicle includes at least one of the following:

[0096] The first vehicle is located upstream of the target loading area where the target vehicle malfunctioned, and whose current loading capacity is less than the maximum loading capacity. The location of the target loading area is determined based on the target vehicle's path planning information, vehicle positioning information, current operation instructions, and preset rules. The current operation instructions include information for instructing the target vehicle to perform bidirectional or unidirectional operations.

[0097] A second vehicle located within the work area and in an idle state;

[0098] The third vehicle located in the parking lot corresponding to the work area;

[0099] The first vehicle has a higher preset priority than the second vehicle, and the second vehicle has a higher preset priority than the third vehicle.

[0100] Optionally, the preset rules can be issued through the current job instruction.

[0101] Candidate vehicles include at least one of the following: the first vehicle upstream of the target loading / unloading position in the work area (with insufficient load, i.e., the current load of the vehicle is less than the maximum load), the second vehicle that is idle in the work area, and the third vehicle in the parking lot of the work area.

[0102] Specifically, the process for determining candidate vehicles includes at least one of the following:

[0103] Based on the target vehicle's route planning information and vehicle positioning information, determine whether there is a first vehicle with insufficient load (carrying the same type of goods as the target vehicle) upstream of the target loading area. If so, the first vehicle will be the first priority (the first vehicle's preset priority) candidate vehicle. Then, determine the dispatchable vehicles in the first vehicle to support the target vehicle in completing the remaining target operations.

[0104] Determine whether there is an idle second vehicle waiting for work instructions in the work area. If there is, the second vehicle will be a candidate vehicle with the second priority (the preset priority of the second vehicle). Then, determine the dispatchable vehicle in the second vehicle to support the target vehicle to complete the remaining target work.

[0105] Determine whether there is a third vehicle in the parking lot of the work area. If there is, the third vehicle will be a candidate vehicle with the third priority (the preset priority of the third vehicle). Then, determine the dispatchable vehicles among the third vehicles to support the target vehicle in completing the remaining target operations.

[0106] The first priority is higher than the second priority, and the second priority is higher than the third priority.

[0107] The process of determining the location of the target loading area is explained in detail below.

[0108] First, it should be noted that determining the location of the target loading area requires the existence of goods to be loaded. For one-way operations, the target loading area must be the location where goods are loaded. For two-way operations, when both loading / unloading areas have goods to be loaded, both loading / unloading areas could become the target loading area, depending on the specific circumstances. When only one loading / unloading area has goods to be loaded, the target loading area must be the location where goods are to be loaded.

[0109] The location of the target loading area where the target vehicle malfunctions is determined based on the target vehicle's path planning information, vehicle positioning information, current work instructions, and preset rules.

[0110] For example, the preset rule is to determine the location of the target loading area based on the direction of travel of the target vehicle before the malfunction. Specifically, if the route planning information of the target vehicle is to load goods at location A and transport them to location B for unloading, and the current operation instruction indicates one-way operation, since there are goods to be loaded only at location A, the target loading area location is always location A, regardless of where the target vehicle malfunctions (whether it is determined that the target vehicle malfunctioned after loading goods at location A, after unloading goods at location B, after loading goods at location A and then malfunctioning while traveling to location B to unload goods, or after unloading goods at location B and then malfunctioning while traveling to location A), as long as there are goods to be loaded at location A, the target loading area location is location A. If the target vehicle's route planning information indicates that it loads goods at point A, transports them to point B for unloading, then loads goods again at point B, and returns to point A for unloading, and the current work instruction indicates bidirectional operation, then if, based on the target vehicle's location information, it is determined that the target vehicle malfunctions after loading / unloading goods at point A, and it is determined that there are still goods to be loaded at point A, then the target loading area location is point A. If it is determined that there are no goods to be loaded at point A, but there are goods to be loaded at point B, then the target loading area location is point B. If, based on the target vehicle's location information, it is determined that the target vehicle malfunctions after loading / unloading goods at point B, and it is determined that there are still goods to be loaded at point B, then the target loading area location is point B. If it is determined that there are no goods to be loaded at point B, then the target loading area location is point B. If there is cargo to be loaded at point A, then the target loading area location is point A. If, based on the target vehicle's location information, it is determined that the target vehicle loads / unloads cargo at point A and then malfunctions while traveling to point B, and it is determined that there is still cargo to be loaded at point A, then the target loading area location is point A. If it is determined that there is no cargo to be loaded at point A, but there is cargo to be loaded at point B, then the target loading area location is point B. If, based on the target vehicle's location information, it is determined that the target vehicle loads / unloads cargo at point B and then malfunctions while traveling to point A, and it is determined that there is still cargo to be loaded at point B, then the target loading area location is point B. If it is determined that there is no cargo to be loaded at point B, but there is cargo to be loaded at point A, then the target loading area location is point A.

[0111] For example, the preset rule is to determine the target loading area location as the location closer to the fault location of the target vehicle. Specifically, if the target vehicle's route planning information is to load goods at location A and transport them to location B for unloading, and the current work instruction indicates one-way operation, since only location A has goods to be loaded, the target loading area location will always be location A, regardless of where the target vehicle malfunctions (whether it malfunctions after loading goods at location A, after unloading goods at location B, while driving to location B to unload goods, or while driving to location A after unloading goods at location B). If the target vehicle's route planning information indicates that it loads goods at point A, transports them to point B for unloading, then loads goods again at point B, and returns to point A for unloading, and the current work instruction indicates bidirectional operation, based on the target vehicle's location information, if it is determined that the target vehicle malfunctions after loading / unloading goods at point A, then point A is the closest point to the malfunction location. If it is determined that there are still goods to be loaded at point A, then the target loading area location is point A. If there are no goods to be loaded at point A, but there are goods to be loaded at point B, then the target loading area location is point B. (This process is repeated three times in the original text.) If there is cargo to be loaded at location A, then the target loading area location is location A. Based on the target vehicle's location information, if the target vehicle loads / unloads cargo at location A and then malfunctions while traveling to location B, and if the malfunction location is closer to location A and there is cargo to be loaded at location A, then the target loading area location is location A. If the malfunction location is closer to location B and there is cargo to be loaded at location B, then the target loading area location is location B. Based on the target vehicle's location information, if the target vehicle loads / unloads cargo at location B and then malfunctions while traveling to location A, and if the malfunction location is closer to location B and there is cargo to be loaded at location B, then the target loading area location is location B. If the malfunction location is closer to location A and there is cargo to be loaded at location A, then the target loading area location is location A.

[0112] For example, the preset rule is to prioritize the location with the larger amount of cargo to be loaded as the target loading area. Specifically, if the target vehicle's route planning information is to load goods at location A and transport them to location B for unloading, and the current work instruction indicates a one-way operation, since only location A has cargo to be loaded, regardless of where the target vehicle malfunctions (whether it malfunctions after loading goods at location A, after unloading goods at location B, while driving to location B to unload goods after loading goods at location A, or while driving to location A after unloading goods at location B), the target loading area location will always be location A, provided that there is still cargo to be loaded at location A. If the target vehicle's route planning information is to load goods at point A, transport them to point B for unloading, then load goods at point B and transport them back to point A for unloading, and the current work instruction indicates bidirectional operation, based on the target vehicle's positioning information, it is determined whether the target vehicle malfunctions after loading / unloading goods at point A, or after loading / unloading goods at point B, or after loading / unloading goods at point A and then malfunctions while traveling to point B, or after loading / unloading goods at point B and then malfunctions while traveling to point A. If the amount of goods to be loaded at point A is larger, then the target loading area location is point A; if the amount of goods to be loaded at point B is larger, then the target loading area location is point B.

[0113] For example, the preset rule is to prioritize a certain location as the target loading area. Specifically, if the target vehicle's route planning information is to load goods at location A and transport them to location B for unloading, and the current work instruction indicates a one-way operation, then only location A can be designated as the target loading area. Therefore, regardless of where the target vehicle malfunctions (whether it malfunctions after loading goods at location A, after unloading goods at location B, while driving to location B to unload goods after loading goods at location A, or while driving to location A after unloading goods at location B), as long as there is still goods to be loaded at location A, the target loading area will always be location A. If the target vehicle's route planning information indicates that it loads goods at point A, transports them to point B for unloading, then loads goods again at point B, and returns to point A for unloading, and the current work instruction indicates bidirectional operation, based on the target vehicle's location information, it is determined whether the vehicle malfunctions after loading / unloading goods at point A, or after loading / unloading goods at point B, or after loading / unloading goods at point A and then malfunctions while traveling to point B, or after loading / unloading goods at point B and then malfunctions while traveling to point A. In case of a fault, if the preset rule prioritizes location point A for the target loading area, and there is cargo to be loaded at location point A, then the target loading area location will always be location point A. If the preset rule prioritizes location point A for the target loading area, but there is no cargo to be loaded at location point A, then the target loading area location will always be location point B. If the preset rule prioritizes location point B for the target loading area, and there is cargo to be loaded at location point B, then the target loading area location will always be location point B. If the preset rule prioritizes location point B for the target loading area, but there is no cargo to be loaded at location point B, then the target loading area location will always be location point A.

[0114] It should be noted that, in this embodiment of the invention, since the candidate vehicles that can replace the target vehicle to complete the remaining target tasks are determined according to the preset priority of vehicles located in different areas of the work area from high to low, when the candidate vehicles include the first vehicle, the candidate vehicles may not include the second and third vehicles; when the candidate vehicles include the second vehicle, the candidate vehicles also include the first vehicle, but the candidate vehicles may not include the third vehicle; when the candidate vehicles include the third vehicle, the candidate vehicles also include the first and second vehicles.

[0115] Preferably, after the candidate vehicles in the candidate set are determined as described above, and before the vehicle transportation capacity of the candidate vehicles is judged, the candidate vehicles in the candidate set include a first vehicle, a second vehicle, and a third vehicle.

[0116] Optionally, before determining the dispatchable vehicles among the candidate vehicles based on the number of transports the candidate vehicles can support during the remaining target operations, the method further includes:

[0117] Determine the number of transport trips that the candidate vehicle can support while performing the remaining target operations.

[0118] In this embodiment of the invention, the transportation capacity of candidate vehicles is determined based on the number of times the candidate vehicles can support transportation when performing the remaining target operations. Therefore, it is necessary to determine the number of times the candidate vehicles can support transportation when performing the remaining target operations before determining the dispatchable vehicles among the candidate vehicles.

[0119] Optionally, determining the number of transport trips that the candidate vehicle can support while performing the remaining target operations includes:

[0120] Based on the candidate vehicle's current remaining battery power, experienced power consumption, first power consumption, energy consumption per unit mass per unit distance, energy utilization rate, vehicle weight, maximum load capacity, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target task, distance between the end point of the remaining target task and the target loading area where the target vehicle malfunctions, and the task type of the remaining target task, determine the number of transport trips the candidate vehicle can support when performing the remaining target task.

[0121] Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

[0122] The following details the process of calculating the number of transport trips a candidate vehicle can support:

[0123] Let Q be the current remaining battery level of the candidate vehicle. 剩 Q e The energy consumption is based on experience (affected by factors such as congestion and weather conditions). The energy consumption of the candidate vehicle traveling from its current location to the target loading area where the target vehicle malfunctions is denoted as Q0. The energy consumption per unit mass per unit distance is... The energy utilization rate is ξ, the vehicle weight is W, and the maximum load is W. lmax Let L1 be the distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target task (transportation distance), and L2 be the distance between the end point of the remaining target task and the target loading area where the target vehicle malfunctions. Let the task type of the remaining target task be a. Then, the number of transport trips N that the candidate vehicle can support is:

[0124]

[0125] Among them, the remaining target tasks are either one-way or two-way. When the remaining target tasks are one-way, a = 0, and when the remaining target tasks are two-way, a = 1.

[0126] The location of the target loading area where the target vehicle malfunctioned has already been described above and will not be repeated here.

[0127] Optionally, determining the dispatchable vehicles among the candidate vehicles based on the number of transports the candidate vehicles can support during the remaining target operations includes:

[0128] The number of tasks that the candidate vehicle can support when performing the remaining target operations is determined based on the number of transports it can support.

[0129] Based on the available task volume, determine the dispatchable vehicles among the candidate vehicles.

[0130] After determining the number of transport trips that each candidate vehicle can support, the number of tasks that each candidate vehicle can support can be determined based on the number of transport trips that can support. Based on the total number of tasks that each candidate vehicle can support, the dispatchable vehicles among the candidate vehicles are determined. That is, in this embodiment of the invention, the total number of tasks that the dispatchable vehicles among the candidate vehicles can support is determined to be greater than or equal to the task volume of the remaining target operation, in descending order of priority of the candidate vehicles.

[0131] Optionally, determining the workload that the candidate vehicle can support during the remaining target operations based on the number of transport trips it can support during the remaining target operations includes:

[0132] The number of transport trips each candidate vehicle can support, its remaining load capacity, and the preset unit task quantity calculation value are used to determine the number of tasks each candidate vehicle can support.

[0133] The remaining load capacity is determined based on the maximum load capacity and current load capacity of the candidate vehicle.

[0134] Specifically, the number of tasks that each candidate vehicle can support is calculated as follows:

[0135] F = η(W) l剩 +W lmax (N-1))

[0136] W l剩 =W lmax -W l

[0137] Where F represents the task capacity that each candidate vehicle can support, η represents the standard value for calculating the unit task capacity (a preset unit task capacity calculation value), and W... l剩 Let W be the remaining load capacity of the candidate vehicles, N be the number of transport trips the candidate vehicles can support, and W be the remaining load capacity of the candidate vehicles. lmax W represents the maximum load capacity of the candidate vehicle. l The current load (already loaded) of the candidate vehicle.

[0138] It should also be noted that since each candidate vehicle has a different weight, current load, current remaining battery power, and location, the total number of tasks that can be supported by candidate vehicles in different regions and locations needs to be summed up one by one when calculating the total number of tasks that can be supported by candidate vehicles in different regions and locations.

[0139] Optionally, determining the dispatchable vehicles among the candidate vehicles based on the supported task volume includes:

[0140] If, in accordance with the order of sub-priority of each first vehicle among the candidate vehicles from high to low, the total number of tasks that the first sub-vehicles among the first vehicles can support is greater than or equal to the number of tasks of the remaining target operation, then the dispatchable vehicle is determined to include the first sub-vehicles; the first sub-vehicles are at least one of the first vehicles.

[0141] If the total number of tasks that the first vehicles in the candidate vehicles can support is less than the remaining target task volume, and if the total number of tasks that the second sub-vehicles in the second vehicles can support is greater than or equal to the task volume of the first target task, then the dispatchable vehicles include the first vehicles and the second sub-vehicles; the second sub-vehicle is at least one of the second vehicles; the first target task volume is the task volume of the remaining task volume excluding the total number of tasks that the first vehicles can support.

[0142] If the sum of the task capacity of the first vehicle and the second vehicle among the candidate vehicles is less than the task capacity of the remaining target operation, and the sub-priority of each third vehicle among the candidate vehicles is determined from high to low, and the sum of the task capacity of the third sub-vehicles among the third vehicles is greater than or equal to the task capacity of the second target operation, then the dispatchable vehicles include the first vehicle, the second vehicle, and the third sub-vehicle; the third sub-vehicle is at least one of the third vehicles; the task capacity of the second target operation is the task capacity of the remaining target operation excluding the sum of the task capacity of the first vehicle and the task capacity of the second vehicle.

[0143] It should be noted that, in addition to determining candidate vehicles according to the preset priority order of vehicles in different areas of the work area from high to low, when selecting dispatchable vehicles, candidate vehicles need to be sorted by secondary priority (sub-priority) in the corresponding area of ​​the work area.

[0144] Furthermore, based on the priority and sub-priority of candidate vehicles in different regions and locations, the total number of tasks that candidate vehicles in different regions and locations can support is calculated in descending order, thereby determining the dispatchable vehicles that can complete the remaining target tasks.

[0145] Specifically, if the remaining target task volume is M, the total task volume that the first vehicle can support is m1, the total task volume that the second vehicle in the work area can support is m2, and the total task volume that the parking lot corresponding to the work area can support is m3. When m1>=M, the dispatchable vehicles include some or all of the first vehicles; when m1+m2>=M>=m1, the dispatchable vehicles include all of the first vehicles and all or some of the second vehicles; when m1+m2+m3>=M>=m1+m2, the dispatchable vehicles include all of the first vehicles, all of the second vehicles, and all or some of the third vehicles; furthermore, when M>m1+m2+m3, the dispatchable vehicles include all of the first vehicles, all of the second vehicles, and all of the third vehicles.

[0146] Furthermore, the method also includes:

[0147] The sub-priority of each candidate vehicle is determined based on the distance between the current location of each candidate vehicle and the target loading area where the target vehicle malfunctioned.

[0148] The closer the current location of the candidate vehicle is to the target loading area where the target vehicle malfunctions, the higher the sub-priority of the candidate vehicle.

[0149] The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

[0150] It should be noted that the following describes the process of sorting candidate vehicles by secondary priority (sub-priority) within the corresponding area of ​​the work zone:

[0151] Within the location area of ​​the first priority candidate vehicle, which is upstream of the target loading area, a high-precision map is used to trace back upstream from the target loading area to mark a point. The earlier the point is marked, the higher the sub-priority. Finally, the relationship between the sub-priority determination and the path distance (non-coordinate distance) between the current location of the first vehicle and the target loading area is as follows: the closer the distance, the higher the sub-priority; the farther the distance, the lower the sub-priority.

[0152] Within the location area of ​​the candidate vehicles with the second priority, that is, within the work area, the shortest path distance (non-coordinate distance) from the starting point to the location of each second vehicle is calculated, with the target loading area location as the starting point. All paths are sorted, and the closer the path distance between the second vehicle and the target loading area location, the higher the sub-priority, and the farther the distance, the lower the sub-priority.

[0153] Within the location area of ​​the third priority candidate vehicles, that is, within the parking lot corresponding to the work area, the shortest path distance (non-coordinate distance) from the starting point to the location of each third vehicle is calculated, with the target loading area location as the starting point. All paths are sorted, and the closer the path distance between the third vehicle and the target loading area location, the higher the sub-priority; the farther the distance, the lower the sub-priority.

[0154] Preferably, sending control commands to at least one schedulable vehicle includes:

[0155] The control command is sent to each of the schedulable vehicles in descending order of priority and in descending order of sub-priority.

[0156] When dispatching available vehicles, the dispatching process begins with dispatching the first batch of available vehicles. This is done by sending an additional work instruction (control instruction A) to the highest-priority available vehicle in the first batch, following the order of sub-priority from highest to lowest. The dispatching vehicle's transport capacity is assessed; it may be able to perform the task according to the additional work instruction, or it may request a new additional work instruction or report insufficient transport capacity (e.g., low battery). If the available vehicle can handle the remaining target workload, dispatching is completed according to the additional work instruction A, and the remaining target workload is performed. If the available vehicle can only handle a portion of the remaining target workload, an auxiliary work instruction (control instruction B) is sent to it, enabling it to complete the dispatching and perform part of the remaining target workload. Furthermore, an additional work instruction (control instruction C) is sent to the second-highest-priority available vehicle in the first batch, allowing it to perform the remaining target workload according to the additional work instruction C. In short, multiple available vehicles are dispatched to perform the remaining target workload. If the highest priority dispatchable vehicle in the first vehicle is unable to support any remaining target task, an additional task instruction A (control instruction) is sent to the second highest priority dispatchable vehicle in the first vehicle. Following the above pattern, one or more dispatchable vehicles in the first vehicle are dispatched to support the target vehicle in completing the remaining target task.

[0157] After all the available vehicles in the first vehicle group have been dispatched, the available vehicles in the second vehicle group are dispatched. Control commands are sent to the highest-priority available vehicle in the second vehicle group, according to the sub-priority from highest to lowest. These control commands are non-additional operation commands. The transport capacity of this available vehicle is assessed. If the available vehicle can support the remaining target operation, then the remaining target operation workload (the workload of the remaining target operation excluding the workload of the available vehicles in the first vehicle group) is supported according to the control command. If the workload of the remaining target operation has not been fully allocated, control commands are sent to the next lower-priority available vehicle (the second-highest-priority available vehicle in the second vehicle group) according to the sub-priority from highest to lowest, so that the next lower-priority available vehicle can continue to perform the remaining target operation according to the control command. This process is repeated to dispatch one or more available vehicles in the second vehicle group to support the target vehicle in completing the remaining target operation workload.

[0158] After all available vehicles in the first and second vehicles have been dispatched, available vehicles in the third vehicle are dispatched. Control commands are sent to the highest-priority available vehicle in the third vehicle, according to their sub-priority from highest to lowest. These control commands are non-additional operation commands. The transport capacity of this available vehicle is assessed. If the available vehicle can support the remaining target operation, it supports the remaining target operation workload (the workload of the remaining target operation excluding the workload that the available vehicles in the first and second vehicles can support). If the remaining target operation workload has not been fully allocated, control commands are sent to the next lower-priority available vehicle (the second-highest-priority available vehicle in the third vehicle), so that the next lower-priority available vehicle can continue to perform the remaining target operation. This process is repeated, dispatching one or more available vehicles in the third vehicle to support the target vehicle in completing the remaining target operation workload.

[0159] The following is combined with Figure 2 The specific process of the vehicle dispatching method provided in this embodiment of the invention is as follows:

[0160] First, in descending order of priority, determine if there is a first vehicle (i.e., if there is a vehicle with insufficient load capacity upstream of the target loading area). If not, the total workload m1 that the first vehicle can support is set to 0. If a first vehicle exists, calculate the path distance from its current position to the target loading area for each first vehicle. Sort these path distances from smallest to largest, with the first vehicle having the smallest path distance numbered 0. Then, as the path distance increases, the numbers gradually increase. The initial value of the total workload S that the schedulable vehicles can currently support is 0. Determine if the total workload S that the schedulable vehicles can currently support is less than the remaining target operation workload M and the workload that the schedulable vehicles in the first vehicle can support. If the minimum value of the total quantity m1 is not found, then it is determined whether the remaining target task quantity M is less than or equal to the total task quantity m1 supported by the dispatchable vehicles in the first vehicle. If the total task quantity S currently supported by the dispatchable vehicles is less than the minimum value between the remaining target task quantity M and the total task quantity m1 supported by the dispatchable vehicles in the first vehicle, the first vehicle with the smallest path distance is added to the judgment set. Then, the transportation capacity (e.g., remaining battery power) of the vehicle is determined. Based on the transportation capacity, it is determined whether the vehicle can support the remaining target task, that is, whether it can support the unit task quantity. If it can, the vehicle is determined to be a dispatchable vehicle and added to the dispatch set. The task quantity m1 supported by the dispatchable vehicle is then determined. iThe total available task volume S is added to the current available task volume S, and the result is assigned to S. Then, the process of determining the vehicle with the smallest path distance is repeated until the total available task volume S of the dispatchable vehicles is not less than the minimum value between the remaining target task volume M and the total available task volume m1 of the dispatchable vehicles in the first vehicle. Then, it is determined whether the remaining target task volume M is less than or equal to the total available task volume m1 of the dispatchable vehicles in the first vehicle. If so, all or some of the dispatchable vehicles in the first vehicle are determined to be dispatchable, and control commands are sent to the dispatchable vehicles to perform the remaining target task according to the control commands. While the dispatchable vehicles are performing the remaining target task according to the control commands, the transportation capacity determination loop is also entered. If not, it is determined whether there is a second vehicle, that is, whether there is an idle vehicle in the work area. If not, it is determined that the total available task volume m2 of the second vehicle is 0. If there is a second vehicle, the path distance between each second vehicle and the target loading area is calculated. The above path distances are sorted from smallest to largest, and the second vehicle with the smallest path distance is assigned to the first vehicle. The initial number is 0, and then gradually increases as the path distance increases. It is determined whether the total number of tasks S that the currently dispatchable vehicles can support is less than the remaining target task quantity M, and whether the minimum value is the sum of the total number of tasks m1 of the first dispatchable vehicles and the sum of the total number of tasks m2 of the second dispatchable vehicles. If not, it is determined whether the remaining target task quantity M is less than or equal to the sum of the total number of tasks m1 of the first dispatchable vehicles and the sum of the total number of tasks m2 of the second dispatchable vehicles. If the current number of tasks S is less than or equal to the sum of the total number of tasks m1 of the first dispatchable vehicles and the sum of the total number of tasks m2 of the second dispatchable vehicles, it is determined whether the current number of tasks S that the dispatchable vehicles can support is less than or equal to the sum of the total number of tasks m1 of the first dispatchable vehicles and the sum of the total number of tasks m2 of the second dispatchable vehicles. If the total available task quantity S is less than the remaining target task quantity M, and the minimum of the sum of the available task quantities m1 of the first vehicle and the sum of the available task quantities m2 of the second vehicle, the second vehicle with the shortest path distance is added to the decision set. Then, the vehicle's transport capacity (e.g., remaining battery power) is assessed. Based on the transport capacity, it is determined whether the vehicle can support the remaining target task, i.e., whether it can support a unit of task quantity. If so, the vehicle is determined to be a dispatchable vehicle and added to the dispatch set. The available task quantity m2 of the dispatchable vehicle is then determined. jAdd the sum of the current available task volume S to the sum of the available task volume S, and assign the sum to S. Then repeat the process of the second vehicle with the smallest path distance to determine the second vehicle with the second smallest path distance, until the sum of the current available task volume S of the dispatchable vehicles is not less than the minimum of the remaining target task volume M and the sum of the available task volumes m1 of the first vehicle and m2 of the second vehicle. Then determine whether the remaining target task volume M is less than or equal to the sum of the available task volumes m1 of the first vehicle and m2 of the second vehicle. If so, then it is determined. The dispatchable vehicles include all vehicles in the first vehicle group and all or some vehicles in the second vehicle group. Control commands are sent to the dispatchable vehicles so that they can perform the remaining target tasks according to the control commands. While the dispatchable vehicles are performing the remaining target tasks according to the control commands, a transportation capacity judgment loop is also entered. If not, it is determined whether there are third vehicles, that is, whether there are vehicles in the parking lot of the work area. If not, it is determined that the total task capacity (m3) supported by the third vehicle is 0. If there are third vehicles, the path distance between each third vehicle and the target loading area is calculated. The above path distances are sorted from smallest to largest, and the third vehicle with the smallest path distance is numbered 0. Then, as the path distance increases, the number gradually increases. It is determined whether the total number of tasks S that the currently dispatchable vehicles can support is less than the remaining target operation's task volume M, and the minimum value among the sums of the total number of tasks m1 (dispatchable vehicles in the first vehicle), m2 (dispatchable vehicles in the second vehicle), and m3 (dispatchable vehicles in the third vehicle). If not, it is determined whether the remaining target operation's task volume M is less than or equal to the sum of the total number of tasks m1 (dispatchable vehicles in the first vehicle), m2 (dispatchable vehicles in the second vehicle), and m3 (dispatchable vehicles in the third vehicle). The system determines whether the total number of tasks (S) that can be supported by the currently dispatchable vehicles is less than the remaining target task quantity (M). It also considers the minimum of the sums of the total number of tasks (m1) of the dispatchable vehicles in the first vehicle, the total number of tasks (m2) of the dispatchable vehicles in the second vehicle, and the total number of tasks (m3) of the dispatchable vehicles in the third vehicle. The third vehicle, having the shortest path distance, is added to the decision set. The system then assesses the vehicle's transport capacity (e.g., remaining battery power) to determine if it can support the remaining target task quantity. If so, the vehicle is determined to be dispatchable and added to the dispatch set, with the dispatchable vehicle's supported task quantity (m3) set. kAdd the sum of the current available task volume S to the sum of the available task volume S, and assign the sum to S. Then repeat the process of finding the third vehicle with the smallest path distance, and then find the third vehicle with the second smallest path distance, until the sum of the current available task volume S of the dispatchable vehicles is not less than the minimum of the sum of the remaining target task volume M, the sum of the available task volumes m1 of the first vehicle, the sum of the available task volumes m2 of the second vehicle, and the sum of the available task volumes m3 of the third vehicle. Then determine whether the remaining target task volume M is less than or equal to the sum of the available task volumes m1 of the first vehicle. The sum of the total number of tasks that can be supported by the dispatchable vehicles in the second vehicle (m2) and the total number of tasks that can be supported by the dispatchable vehicles in the third vehicle (m3) is used. If so, the dispatchable vehicles are all the vehicles in the first vehicle, all the vehicles in the second vehicle, and all or some of the vehicles in the third vehicle. If not, the dispatchable vehicles are all the vehicles in the first vehicle, all the vehicles in the second vehicle, and all the vehicles in the third vehicle. Control commands are sent to the dispatchable vehicles so that they can perform the remaining target operations according to the control commands. When the dispatchable vehicles are performing the remaining target operations according to the control commands, the transportation capacity judgment loop is also entered.

[0161] This invention is applicable to work area application scenarios. When a target vehicle malfunctions, a dispatchable vehicle is identified to fill the gap, thus filling the gap in the existing unmanned electric vehicle dispatch scenario. Furthermore, by having a dispatchable vehicle take over from the target vehicle to complete the remaining target tasks, the problem of reduced throughput in the work area due to the malfunction of unmanned electric vehicles is solved, ensuring that the throughput of the work area is not affected by the malfunctioning vehicle.

[0162] like Figure 3 As shown, this embodiment of the invention also provides a vehicle dispatching device, including:

[0163] The first determining module 301 is used to determine a candidate vehicle that can take over the remaining target operation when the target vehicle in the work area fails.

[0164] The second determining module 302 is used to determine the dispatchable vehicles among the candidate vehicles based on the number of transports that the candidate vehicles can support when performing the remaining target operations.

[0165] The sending module 303 is used to send control commands to at least one schedulable vehicle so that the schedulable vehicle can take over from the target vehicle to complete the remaining target operation.

[0166] In this embodiment of the invention, when a target vehicle in the work area malfunctions, a candidate vehicle capable of replacing the target vehicle to complete the remaining target work is determined. Based on the number of transports that the candidate vehicle can support while performing the remaining target work, a dispatchable vehicle is determined from the candidate vehicles. A control command is sent to at least one dispatchable vehicle so that the dispatchable vehicle can replace the target vehicle to complete the remaining target work. This enables the use of dispatchable vehicles to fill the gap left by the malfunctioning vehicle in the work area and support the subsequent remaining work, thus solving the problem of reduced loading and unloading throughput in the work area due to a decrease in the number of working vehicles.

[0167] Optionally, the first determining module 301 includes:

[0168] The first determining unit is used to determine, according to the preset priority of vehicles located in different areas of the work area from high to low, candidate vehicles that can replace the target vehicle to complete the remaining target work.

[0169] Optionally, the candidate vehicle includes at least one of the following:

[0170] The first vehicle is located upstream of the target loading area where the target vehicle malfunctioned, and its current loading capacity is less than the maximum loading capacity. The location of the target loading area is determined based on the target vehicle's path planning information, vehicle positioning information, current operation instructions, and preset rules. The current operation instructions include information for instructing the target vehicle to perform bidirectional or unidirectional operations.

[0171] A second vehicle located within the work area and in an idle state;

[0172] The third vehicle located in the parking lot corresponding to the work area;

[0173] The first vehicle has a higher preset priority than the second vehicle, and the second vehicle has a higher preset priority than the third vehicle.

[0174] Optionally, the device further includes:

[0175] The third determining module is used to determine the number of transport trips that the candidate vehicle can support when performing the remaining target operations.

[0176] Optionally, the third determining module includes:

[0177] The second determining unit is used to determine the number of transport trips that the candidate vehicle can support when performing the remaining target operation based on the candidate vehicle's current remaining power, empirical power consumption, first power consumption, energy consumption per unit mass per unit distance, power utilization rate, vehicle weight, maximum load, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target operation, distance between the end point of the remaining target operation and the target loading area where the target vehicle malfunctions, and the operation type of the remaining target operation.

[0178] Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

[0179] Optionally, the second determining module 302 includes:

[0180] The third determining unit is used to determine the amount of tasks that the candidate vehicle can support when performing the remaining target operations, based on the number of transports that the candidate vehicle can support when performing the remaining target operations.

[0181] The fourth determining unit is used to determine the dispatchable vehicles among the candidate vehicles based on the available task volume.

[0182] Optionally, the third determining unit is specifically used for:

[0183] The number of transport trips each candidate vehicle can support, its remaining load capacity, and the preset unit task quantity calculation value are used to determine the number of tasks each candidate vehicle can support.

[0184] The remaining load capacity is determined based on the maximum load capacity and current load capacity of the candidate vehicle.

[0185] Optionally, the fourth determining unit is specifically used for:

[0186] If, in accordance with the order of sub-priority of each first vehicle among the candidate vehicles from high to low, the total number of tasks that the first sub-vehicles among the first vehicles can support is greater than or equal to the number of tasks of the remaining target operation, then the dispatchable vehicle is determined to include the first sub-vehicles; the first sub-vehicles are at least one of the first vehicles.

[0187] If the total number of tasks that the first vehicles in the candidate vehicles can support is less than the total number of tasks for the remaining target operation, and if the total number of tasks that the second sub-vehicles in the second vehicles can support is greater than or equal to the total number of tasks for the first target operation, then the dispatchable vehicles include the first vehicles and the second sub-vehicles; the second sub-vehicles are at least one of the second vehicles; the total number of tasks for the first target operation is the total number of tasks for the remaining target operation excluding the total number of tasks that the first vehicles can support.

[0188] If the sum of the task capacity of the first vehicle and the second vehicle among the candidate vehicles is less than the task capacity of the remaining target operation, and the sub-priority of each third vehicle among the candidate vehicles is determined from high to low, and the sum of the task capacity of the third sub-vehicles among the third vehicles is greater than or equal to the task capacity of the second target operation, then the dispatchable vehicles include the first vehicle, the second vehicle, and the third sub-vehicle; the third sub-vehicle is at least one of the third vehicles; the task capacity of the second target operation is the task capacity of the remaining target operation excluding the sum of the task capacity of the first vehicle and the task capacity of the second vehicle.

[0189] Optionally, the fourth determining unit is further configured to:

[0190] The sub-priority of each candidate vehicle is determined based on the distance between the current location of each candidate vehicle and the target loading area where the target vehicle malfunctioned.

[0191] The closer the current location of the candidate vehicle is to the target loading area where the target vehicle malfunctions, the higher the sub-priority of the candidate vehicle.

[0192] The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

[0193] Optionally, the sending module 303 includes:

[0194] The sending unit is configured to send the control command to each of the schedulable vehicles in descending order of priority and in descending order of sub-priority of each of the schedulable vehicles.

[0195] It should be noted that the vehicle dispatching device provided in this embodiment of the invention is a device capable of executing the above-described vehicle dispatching method. Therefore, all embodiments of the above-described vehicle dispatching method are applicable to this device and can achieve the same or similar technical effects.

[0196] like Figure 4 As shown, this embodiment of the invention also provides a vehicle dispatching device, including: a processor 401, a memory 402, and a program stored in the memory 402 and executable on the processor 401. When the program is executed by the processor 401, it implements the above-described vehicle dispatching method.

[0197] Optionally, it also includes a transceiver 403, which is used to receive and send data under the control of the processor 401.

[0198] Specifically, the processor 401 is configured to: determine, in the event of a target vehicle malfunctioning in the work area, a candidate vehicle capable of replacing the target vehicle to complete the remaining target work; and determine a dispatchable vehicle among the candidate vehicles based on the number of transports the candidate vehicle can support while performing the remaining target work.

[0199] The transceiver 403 is used to: send control commands to at least one dispatchable vehicle so that the dispatchable vehicle can take over from the target vehicle to complete the remaining target operation.

[0200] Optionally, the processor 401 is specifically configured to: determine, according to the preset priority of vehicles located in different areas of the work area from high to low, candidate vehicles that can take over from the target vehicle to complete the remaining target work.

[0201] Optionally, the candidate vehicle includes at least one of the following:

[0202] The first vehicle is located upstream of the target loading area where the target vehicle malfunctioned, and its current loading capacity is less than the maximum loading capacity. The location of the target loading area is determined based on the target vehicle's path planning information, vehicle positioning information, current operation instructions, and preset rules. The current operation instructions include information for instructing the target vehicle to perform bidirectional or unidirectional operations.

[0203] A second vehicle located within the work area and in an idle state;

[0204] The third vehicle located in the parking lot corresponding to the work area;

[0205] The first vehicle has a higher preset priority than the second vehicle, and the second vehicle has a higher preset priority than the third vehicle.

[0206] Optionally, the processor 401 is further configured to: determine the number of transport trips that the candidate vehicle can support while performing the remaining target operations.

[0207] Optionally, the processor 401 is specifically configured to: determine the number of transport trips that the candidate vehicle can support when performing the remaining target operation based on the candidate vehicle's current remaining power, empirical power consumption, first power consumption, energy consumption per unit mass per unit distance, power utilization rate, vehicle weight, maximum load, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target operation, distance between the end point of the remaining target operation and the target loading area where the target vehicle malfunctions, and the operation type of the remaining target operation;

[0208] Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

[0209] Optionally, the processor 401 is specifically configured to: determine the amount of tasks that the candidate vehicle can support when performing the remaining target operations based on the number of transports that the candidate vehicle can support when performing the remaining target operations;

[0210] Based on the available task volume, determine the dispatchable vehicles among the candidate vehicles.

[0211] Optionally, the processor 401 is specifically configured to: determine the number of tasks that each candidate vehicle can support based on the number of transport trips it can support, its remaining load capacity, and a preset unit task calculation value.

[0212] The remaining load capacity is determined based on the maximum load capacity and current load capacity of the candidate vehicle.

[0213] Optionally, the processor 401 is specifically configured to: determine that the schedulable vehicle includes the first sub-vehicles if, in accordance with the order of sub-priority of each first vehicle in the candidate vehicles from high to low, the total number of tasks that the first sub-vehicles in the first vehicles can support is greater than or equal to the number of tasks of the remaining target operation; the first sub-vehicles are at least one of the first vehicles.

[0214] If the total number of tasks that the first vehicles in the candidate vehicles can support is less than the total number of tasks for the remaining target operation, and if the total number of tasks that the second sub-vehicles in the second vehicles can support is greater than or equal to the total number of tasks for the first target operation, then the dispatchable vehicles include the first vehicles and the second sub-vehicles; the second sub-vehicles are at least one of the second vehicles; the total number of tasks for the first target operation is the total number of tasks for the remaining target operation excluding the total number of tasks that the first vehicles can support.

[0215] If the sum of the task capacity of the first vehicle and the second vehicle among the candidate vehicles is less than the task capacity of the remaining target operation, and the sub-priority of each third vehicle among the candidate vehicles is determined from high to low, and the sum of the task capacity of the third sub-vehicles among the third vehicles is greater than or equal to the task capacity of the second target operation, then the dispatchable vehicles include the first vehicle, the second vehicle, and the third sub-vehicle; the third sub-vehicle is at least one of the third vehicles; the task capacity of the second target operation is the task capacity of the remaining target operation excluding the sum of the task capacity of the first vehicle and the task capacity of the second vehicle.

[0216] Optionally, the processor 401 is further configured to: determine the sub-priority of each candidate vehicle based on the distance between the current position of each candidate vehicle and the target loading area where the target vehicle malfunctions;

[0217] The closer the current location of the candidate vehicle is to the target loading area where the target vehicle malfunctions, the higher the sub-priority of the candidate vehicle.

[0218] The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

[0219] Optionally, the transceiver 403 is specifically used to: send the control command to each of the schedulable vehicles in descending order of priority and in descending order of sub-priority of each of the schedulable vehicles.

[0220] Among them, Figure 4 In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 401) and memory (memory 402). The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides a user interface 404. A transceiver 403 may be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. Processor 401 is responsible for managing the bus architecture and general processing, and memory 402 may store data used by processor 401 during operation.

[0221] In addition, specific embodiments of the present invention also provide a readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the vehicle scheduling method as described above.

[0222] The above describes the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A vehicle dispatching method, characterized in that, include: In the event that the target vehicle in the work area malfunctions, a candidate vehicle that can take over the target vehicle to complete the remaining target work is identified. Based on the number of transport trips that the candidate vehicles can support while performing the remaining target operations, the dispatchable vehicles among the candidate vehicles are determined; Send a control command to at least one dispatchable vehicle to enable the dispatchable vehicle to take over from the target vehicle and complete the remaining target task. Before determining the dispatchable vehicles among the candidate vehicles based on the number of transport trips the candidate vehicles can support during the remaining target operations, the method further includes: Determine the number of transport trips that the candidate vehicle can support while performing the remaining target operations; Wherein, determining the number of transport trips that the candidate vehicle can support during the remaining target operations includes: Based on the candidate vehicle's current remaining battery power, experienced power consumption, first power consumption, energy consumption per unit mass per unit distance, energy utilization rate, vehicle weight, maximum load capacity, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target task, distance between the end point of the remaining target task and the target loading area where the target vehicle malfunctions, and the task type of the remaining target task, determine the number of transport trips the candidate vehicle can support when performing the remaining target task. Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

2. The vehicle dispatching method according to claim 1, characterized in that, The process of determining candidate vehicles capable of replacing the target vehicle to complete the remaining target tasks includes: Candidate vehicles that can replace the target vehicle to complete the remaining target tasks are determined according to the preset priority of vehicles located in different areas of the work area from high to low.

3. The vehicle dispatching method according to claim 1, characterized in that, The candidate vehicles include at least one of the following: The first vehicle is located upstream of the target loading area where the target vehicle malfunctioned, and its current loading capacity is less than the maximum loading capacity. The location of the target loading area is determined based on the target vehicle's path planning information, vehicle positioning information, current operation instructions, and preset rules. The current operation instructions include information for instructing the target vehicle to perform bidirectional or unidirectional operations. A second vehicle located within the work area and in an idle state; The third vehicle located in the parking lot corresponding to the work area; The first vehicle has a higher preset priority than the second vehicle, and the second vehicle has a higher preset priority than the third vehicle.

4. The vehicle dispatching method according to claim 1, characterized in that, The step of determining the dispatchable vehicles among the candidate vehicles based on the number of transport trips the candidate vehicles can support during the remaining target operations includes: The number of tasks that the candidate vehicle can support when performing the remaining target operations is determined based on the number of transports it can support. Based on the available task volume, determine the dispatchable vehicles among the candidate vehicles.

5. The vehicle dispatching method according to claim 4, characterized in that, The step of determining the workload that a candidate vehicle can support during the remaining target operations based on the number of transport trips it can support during the remaining target operations includes: The number of transport trips each candidate vehicle can support, its remaining load capacity, and the preset unit task quantity calculation value are used to determine the number of tasks each candidate vehicle can support. The remaining load capacity is determined based on the maximum load capacity and current load capacity of the candidate vehicle.

6. The vehicle dispatching method according to claim 4, characterized in that, The step of determining the dispatchable vehicles among the candidate vehicles based on the supported task volume includes: If, in accordance with the order of sub-priority of each first vehicle among the candidate vehicles from high to low, the total number of tasks that the first sub-vehicles among the first vehicles can support is greater than or equal to the number of tasks of the remaining target operation, then the dispatchable vehicle is determined to include the first sub-vehicles; the first sub-vehicles are at least one of the first vehicles. If the total number of tasks that the first vehicles in the candidate vehicles can support is less than the total number of tasks for the remaining target operation, and if the total number of tasks that the second sub-vehicles in the second vehicles can support is greater than or equal to the total number of tasks for the first target operation, then the dispatchable vehicles include the first vehicles and the second sub-vehicles; the second sub-vehicles are at least one of the second vehicles; the total number of tasks for the first target operation is the total number of tasks for the remaining target operation excluding the total number of tasks that the first vehicles can support. If the sum of the task capacity of the first vehicle and the second vehicle among the candidate vehicles is less than the task capacity of the remaining target operation, and the sub-priority of each third vehicle among the candidate vehicles is determined from high to low, and the sum of the task capacity of the third sub-vehicles among the third vehicles is greater than or equal to the task capacity of the second target operation, then the dispatchable vehicles include the first vehicle, the second vehicle, and the third sub-vehicle; the third sub-vehicle is at least one of the third vehicles; the task capacity of the second target operation is the task capacity of the remaining target operation excluding the sum of the task capacity of the first vehicle and the task capacity of the second vehicle.

7. The vehicle dispatching method according to claim 6, characterized in that, The method further includes: The sub-priority of each candidate vehicle is determined based on the distance between the current location of each candidate vehicle and the target loading area where the target vehicle malfunctioned. The closer the current location of the candidate vehicle is to the target loading area where the target vehicle malfunctions, the higher the sub-priority of the candidate vehicle. The candidate vehicles include the first vehicle, the second vehicle, and the third vehicle.

8. The vehicle dispatching method according to claim 1, characterized in that, Sending control commands to at least one schedulable vehicle includes: The control command is sent to each of the schedulable vehicles in descending order of priority and in descending order of sub-priority.

9. A vehicle dispatching device, characterized in that, include: The first determining module is used to determine a candidate vehicle that can take over the remaining target operation when the target vehicle in the work area fails. The second determining module is used to determine the dispatchable vehicles among the candidate vehicles based on the number of transports that the candidate vehicles can support when performing the remaining target operations. A sending module is used to send control commands to at least one schedulable vehicle so that the schedulable vehicle can take over from the target vehicle to complete the remaining target task. The device further includes: The third determining module is used to determine the number of transport trips that the candidate vehicle can support when performing the remaining target operations; The third determining module includes: The second determining unit is used to determine the number of transport trips that the candidate vehicle can support when performing the remaining target operation based on the candidate vehicle's current remaining power, empirical power consumption, first power consumption, energy consumption per unit mass per unit distance, power utilization rate, vehicle weight, maximum load, distance between the target loading area where the target vehicle malfunctions and the end point of the remaining target operation, distance between the end point of the remaining target operation and the target loading area where the target vehicle malfunctions, and the operation type of the remaining target operation. Wherein, the first power consumption is the power consumed by the candidate vehicle when it travels from its current location to the target loading area where the target vehicle malfunctions.

10. A vehicle dispatching device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the vehicle scheduling method as described in any one of claims 1 to 8.

11. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the vehicle scheduling method as described in any one of claims 1 to 8.

Images