Unmanned vehicle scheduling method and device, computer device and storage medium

Abstract

The application relates to an unmanned vehicle scheduling method and device, computer equipment and a storage medium. The method comprises the following steps: traversing a pollution source area in a scheduling area and an article to be transported in the pollution source area; receiving an unmanned vehicle scheduling instruction of a plurality of unmanned vehicles, and performing trajectory planning on the unmanned vehicles according to the unmanned vehicle scheduling instruction; when the unmanned vehicles enter the pollution source area according to the planned trajectory, marking the unmanned vehicles with a first mark, and taking a preset area centered on the unmanned vehicle marked with the first mark as a movement constraint; when the unmanned vehicle marked with the first mark is unloaded, marking the unloaded article to be transported with a second mark, and taking a preset area centered on the article to be transported marked with the second mark as a fixed constraint; and performing real-time dynamic planning on the trajectory of the unmanned vehicle without the mark according to the movement constraint and the fixed constraint. The method can realize safe scheduling of the unmanned vehicles in an epidemic area.

Description

Technical Field

[0001] This application relates to the field of unmanned vehicle technology, and in particular to an unmanned vehicle scheduling method, apparatus, computer equipment, and storage medium. Background Technology

[0002] Under the overall context of epidemic control, every time an outbreak occurs, local authorities will invest a lot of manpower and resources in epidemic control, especially in areas or hotels that are contaminated, where a large number of epidemic prevention personnel and facilities are needed to ensure the daily life of people in the contaminated areas.

[0003] Currently, to meet the daily needs of pollution source areas, unmanned vehicles have begun to be used for the delivery of goods in pollution source areas such as health stations and hospitals. However, during the delivery process, the issue of secondary infection must be considered. Therefore, Chinese patent application CN114023461A considers the possibility of secondary infection caused by contact between people and unmanned vehicles. However, considering the transmission characteristics of the virus, the problem of secondary infection cannot be completely guaranteed. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, and storage medium for scheduling unmanned vehicles that can be safely used in pollution source areas, addressing the aforementioned technical problems.

[0005] An unmanned vehicle scheduling method, the method comprising: Traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas; Receive multiple unmanned vehicle dispatch instructions, and perform trajectory planning for the unmanned vehicles according to the dispatch instructions; When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle is marked with a first mark, and a preset area centered on the unmanned vehicle marked with the first mark is used as a movement constraint. When the unmanned vehicle marked with the first mark unloads goods, the unloaded transported items are marked with the second mark, and a preset area centered on the transported items marked with the second mark is used as a fixed constraint. Based on the movement constraints and the fixed constraints, real-time dynamic planning is performed on the unmarked unmanned vehicle trajectory.

[0006] In one embodiment, when the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle establishes a connection with a first short-range communication device in the pollution source area; The system receives unmanned vehicle information sent by a first short-range communication device and marks the unmanned vehicle using a first marker.

[0007] In one embodiment, when the first marked unmanned vehicle unloads the goods and drives away from the items, the card reader on the unmanned vehicle disconnects from the identification chip on the items. The system receives chip information from the identification chip fed back by the unmanned vehicle, as well as location information during unloading, and marks the transported items using the second tag based on the chip information and the location information.

[0008] In one embodiment, the preset area corresponding to the moving constraint and the preset area of ​​the fixed constraint are dynamically displayed as pollution source areas in the visualization interface.

[0009] In one embodiment, in the scheduling region coordinate system, the coordinate interval corresponding to each trajectory point in the motion equation corresponding to the moving constraint, and the coordinate interval corresponding to the fixed constraint are obtained; When performing dynamic programming, the coordinate intervals of the trajectory points corresponding to the motion equations at the current moment, as well as the coordinate intervals corresponding to the fixed constraints, are used as rejection regions to update the trajectory of unmarked autonomous vehicles.

[0010] In one embodiment, unmanned vehicle information sent by a first short-range communication device is received, and the unmanned vehicle information is stored in a first form; A disinfection zone is set up in the scheduling area. When a marked unmanned vehicle enters the disinfection zone and establishes a connection with the second short-range communication device in the disinfection zone, the unmanned vehicle information is obtained and matched with the unmanned vehicle information stored in the first form. When a match is successful, delete the driverless car information from the first form and remove the driverless car's marker status.

[0011] In one embodiment, the chip information of the identification chip fed back by the unmanned vehicle, as well as the location information during unloading, are received, and the chip information and the location information are stored in a second form accordingly. Disinfection equipment is set up in the scheduling area. When the third short-range communication device on the disinfection equipment establishes a connection with the identification chip on the item, it reads the chip information and matches it with the chip information stored in the second form. When a match is found, delete the chip information from the second form and remove the item's tag status.

[0012] An unmanned vehicle dispatching device, the device comprising: The traversal module is used to traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas; The initial planning module is used to receive autonomous vehicle scheduling instructions from multiple autonomous vehicles and to plan the trajectories of the autonomous vehicles according to the autonomous vehicle scheduling instructions; The movement constraint establishment module is used to mark the unmanned vehicle with a first mark when the unmanned vehicle enters the pollution source area according to the planned trajectory, and to use a preset area centered on the unmanned vehicle with the first mark as the movement constraint. The fixed constraint establishment module is used to mark the unloaded transported items with a second mark when the unmanned vehicle marked with the first mark is unloading, and to use a preset area centered on the transported items marked with the second mark as a fixed constraint. The dynamic programming module is used to perform real-time dynamic programming of the unmarked unmanned vehicle trajectory based on the movement constraints and the fixed constraints.

[0013] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program performing the following steps: Traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas; Receive multiple unmanned vehicle dispatch instructions, and perform trajectory planning for the unmanned vehicles according to the dispatch instructions; When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle is marked with a first mark, and a preset area centered on the unmanned vehicle marked with the first mark is used as a movement constraint. When the unmanned vehicle marked with the first mark unloads goods, the unloaded transported items are marked with the second mark, and a preset area centered on the transported items marked with the second mark is used as a fixed constraint. Based on the movement constraints and the fixed constraints, real-time dynamic planning is performed on the unmarked unmanned vehicle trajectory.

[0014] A computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor: Traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas; Receive multiple unmanned vehicle dispatch instructions, and perform trajectory planning for the unmanned vehicles according to the dispatch instructions; When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle is marked with a first mark, and a preset area centered on the unmanned vehicle marked with the first mark is used as a movement constraint. When the unmanned vehicle marked with the first mark unloads goods, the unloaded transported items are marked with the second mark, and a preset area centered on the transported items marked with the second mark is used as a fixed constraint. Based on the movement constraints and the fixed constraints, real-time dynamic planning is performed on the unmarked unmanned vehicle trajectory.

[0015] The aforementioned unmanned vehicle scheduling method, device, computer equipment, and storage medium first identify the contamination source area within the scheduling zone. Based on the transmission mode of the epidemic, any unmanned vehicle entering the contamination source area is considered to carry the virus. Therefore, a first marker is used to mark the unmanned vehicles entering the contamination source area. At this time, the first-marked unmanned vehicles are also constantly moving, equivalent to a moving contamination source area, which will affect the scheduling of other unmanned vehicles. Simultaneously, the goods loaded in the unmanned vehicles are also considered to carry the virus, so the location of the goods during unloading is also equivalent to a contamination source area. Since the movement constraints and fixed constraints change constantly during scheduling, for unmarked unmanned vehicles, using the movement constraints and fixed constraints as constraints in real-time dynamic programming for unmanned vehicle scheduling can greatly ensure the safety of unmarked unmanned vehicles. Attached Figure Description

[0016] Figure 1 This is an application scenario diagram of the unmanned vehicle scheduling method in one embodiment; Figure 2 This is a flowchart illustrating an unmanned vehicle scheduling method in one embodiment; Figure 3 This is a structural block diagram of an unmanned vehicle device in one embodiment; Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] The unmanned vehicle scheduling method provided in this application can be applied to, for example... Figure 1In the application environment shown, the unmanned vehicle 102 communicates with the pollution source area 104 via short-range communication. The pollution source area 104 can be the area where confirmed patients are staying or the area where pollutants are stored. The short-range communication device can be Bluetooth, WIFI, ZigBee, UWB, etc. When the unmanned vehicle 102 enters the pollution source area 104, it performs network pairing. Taking Bluetooth as an example, the unmanned vehicle 102 is equipped with a Bluetooth module, and the center of the pollution source area 104 is also equipped with a Bluetooth module. When the Bluetooth modules are paired, it is considered that the unmanned vehicle has entered the pollution source area 104. Similarly, for the transported goods 106, the goods are equipped with an identification chip, which can be an NFC card, RFID, etc. When unloading, the location of the unloading of goods 106 and the specific information of the unloaded goods can be known by reading the identification chip. The system also includes a scheduling server 108 for unmanned vehicle scheduling and control. The scheduling server 108 performs overall unmanned vehicle scheduling and management based on the short-range communication pairing information fed back by the pollution source area, the card reading information of the identification chip, and the movement information of the unmanned vehicle.

[0019] In one embodiment, such as Figure 2 As shown, an unmanned vehicle scheduling method is provided, which can be applied to... Figure 1 Taking the scheduling server in the example, the following steps are included: Step 202: Traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas.

[0020] Step 204: Receive unmanned vehicle scheduling instructions from multiple unmanned vehicles, and perform trajectory planning for the unmanned vehicles according to the unmanned vehicle scheduling instructions.

[0021] The dispatch server receives dispatch instructions from external unmanned vehicles, such as goods delivery instructions and goods transfer instructions. Trajectory planning is a simple plan based on the destination or transfer point.

[0022] Step 206: When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle is marked with a first marker, and a preset area centered on the unmanned vehicle marked with the first marker is used as a movement constraint.

[0023] It is worth noting that at the beginning of trajectory planning, it is impossible to determine whether the unmanned vehicle will enter the pollution source area because the pollution source area may also change. Therefore, the first marker is used to mark the unmanned vehicle that enters the pollution source area.

[0024] Step 208: When the unmanned vehicle marked with the first mark is unloading, the unloaded items to be transported are marked with the second mark, and a preset area centered on the items to be transported marked with the second mark is used as a fixed constraint.

[0025] When the first unmanned vehicle unloads its cargo, the items are stored in a fixed location, thus establishing a fixed constraint.

[0026] Step 210: Perform real-time dynamic planning on the unmarked unmanned vehicle trajectory based on the moving constraints and fixed constraints.

[0027] In the aforementioned unmanned vehicle scheduling method, the pollution source area within the scheduling zone is first identified. Based on the transmission pattern of the epidemic, any unmanned vehicle entering the pollution source area is considered to carry the virus. Therefore, a first marker is used to mark the unmanned vehicles entering the pollution source area. At this time, the first-marked unmanned vehicles are also constantly moving, equivalent to a moving pollution source area, which will affect the scheduling of other unmanned vehicles. Simultaneously, the goods loaded in the unmanned vehicles are also considered to carry the virus, so the location of the goods during unloading is also considered a pollution source area. Since the movement constraints and fixed constraints change constantly as scheduling progresses, for unmarked unmanned vehicles, using the movement constraints and fixed constraints as constraints in real-time dynamic programming for unmanned vehicle scheduling can greatly ensure the safety of unmarked unmanned vehicles.

[0028] In one embodiment, when the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle establishes a connection with a first short-range communication device in the pollution source area; it receives unmanned vehicle information sent by the first short-range communication device and marks the unmanned vehicle using a first marker. In this embodiment, in order to dynamically represent the pollution source area, a map is not used to mark the pollution source area. Epidemic control itself has uncertainties. For example, if the unmanned vehicle enters the pollution source area, then the unmanned vehicle will also be considered a pollution source area in subsequent operation. Therefore, the pollution source area is determined by pairing short-range communication devices. Furthermore, the short-range communication device is selected according to the size of the pollution source area. For example, taking a hotel as an example, a circular area with a center of 100 meters can be selected as the pollution source area. Then, the first short-range communication device can be a WIFI module. By setting the maximum connection distance of the WIFI module to 100 meters, after WIFI pairing, it can be determined that the unmanned vehicle has entered the hotel. Similarly, when an autonomous vehicle is marked by the first marker, the autonomous vehicle is equivalent to a pollution source area. The pollution source area can be selected within 10 meters of the autonomous vehicle. Therefore, a Bluetooth module can be selected as the first short-range communication device. When other autonomous vehicles approach the marked autonomous vehicle and complete Bluetooth pairing, the other autonomous vehicles will also be marked.

[0029] Therefore, the above settings can dynamically determine the pollution source area, further ensuring the safe operation of unmanned vehicle dispatching.

[0030] In one embodiment, when the first-marked unmanned vehicle unloads goods and drives away from the items, the card reader on the unmanned vehicle disconnects from the identification chip on the items; the unmanned vehicle receives chip information of the identification chip and location information during unloading, and marks the unloaded items with a second mark based on the chip information and the location information.

[0031] In this embodiment, the meaning of disconnection varies depending on the type of identification chip. Taking RFID as an example, RFID is a contact-based identification chip. When the unmanned vehicle loads goods, the identification chip completes the entry of the goods into the warehouse. When unloading goods, the identification chip completes the exit from the warehouse. Therefore, after the exit is completed, the connection is considered disconnected. Alternatively, Bluetooth or ZigBee can be used to replace RFID.

[0032] In one embodiment, the preset areas corresponding to the movement constraints and the preset areas of the fixed constraints are dynamically displayed as pollution source areas on the visualization interface. By dynamically displaying the fixed and movement constraints, managers can understand the current infection situation in the park from the visualization interface.

[0033] In one embodiment, in the scheduling region coordinate system, the coordinate intervals corresponding to each trajectory point in the motion equation corresponding to the moving constraint and the coordinate intervals corresponding to the fixed constraint are obtained. During dynamic programming, the coordinate intervals of the trajectory points corresponding to the motion equation at the current moment and the coordinate intervals corresponding to the fixed constraints are used as rejection regions to update the trajectories of unmarked autonomous vehicles. In this embodiment, when a marked autonomous vehicle moves, that vehicle is equivalent to a rejection region, and unmarked autonomous vehicles should avoid contact with marked autonomous vehicles or marked objects as much as possible. It is worth noting that the motion equations are obtained by modeling the motion of the autonomous vehicles in the scheduling region coordinate system.

[0034] In one embodiment, unmanned vehicle information sent by a short-range communication device is received and stored in a first form; a disinfection area is set in the scheduling area; when a marked unmanned vehicle enters the disinfection area and establishes a connection with a second short-range communication device in the disinfection area, the unmanned vehicle information is obtained and matched with the unmanned vehicle information stored in the first form; when the match is successful, the unmanned vehicle information in the first form is deleted and the marking status of the unmanned vehicle is removed.

[0035] In this embodiment, the disinfection area is used for disinfection to ensure that the unmanned vehicle can be put into operation normally in subsequent scheduling. Therefore, in order to automate the entire scheduling process, a second short-range communication device is also set up in the disinfection area, and the acquired information is stored in the first form. The unmanned vehicle information in the first form is then deleted by matching, thereby eliminating the marked state of the unmanned vehicle.

[0036] Similarly, the chip information from the identification chip fed back by the unmanned vehicle, as well as the location information during unloading, are stored in the second form. Disinfection equipment is set up in the dispatch area. When the third short-range communication device on the disinfection equipment establishes a connection with the identification chip on the item, the chip information is read and matched with the chip information stored in the second form. When the match is successful, the chip information in the second form is deleted and the item's marking status is removed.

[0037] In this embodiment, since the items are fixed, disinfection equipment can be used to actively disinfect them, thereby eliminating the marked state of the items.

[0038] It is worth noting that the second and third short-range communication devices can also be equipped with WiFi modules, Bluetooth modules, ZigBee modules, etc.

[0039] It should be understood that, although Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0040] In one embodiment, such as Figure 3 As shown, an unmanned vehicle scheduling device is provided, including: a traversal module 302, an initial planning module 304, a movement constraint establishment module 306, a fixed constraint establishment module 308, and a dynamic planning module 310, wherein: Traversal module 302 is used to traverse the pollution source area in the scheduling area, and the items to be transported in the pollution source area; The initial planning module 304 is used to receive unmanned vehicle scheduling instructions from multiple unmanned vehicles and to perform trajectory planning for the unmanned vehicles according to the unmanned vehicle scheduling instructions; The movement constraint establishment module 306 is used to mark the unmanned vehicle with a first mark when the unmanned vehicle enters the pollution source area according to the planned trajectory, and to use a preset area centered on the unmanned vehicle with the first mark as the movement constraint. The fixed constraint establishment module 308 is used to mark the unloaded items to be transported with the second mark when the unmanned vehicle marked with the first mark is unloading, and to use a preset area centered on the items to be transported marked with the second mark as a fixed constraint. The dynamic programming module 310 is used to perform real-time dynamic programming of the unmarked unmanned vehicle trajectory based on the movement constraints and the fixed constraints.

[0041] In one embodiment, the motion constraint establishment module 306 is further configured to establish a connection between the unmanned vehicle and a first short-range communication device in the pollution source area when the unmanned vehicle enters the pollution source area according to the planned trajectory; receive unmanned vehicle information sent by the first short-range communication device; and mark the unmanned vehicle with a first tag.

[0042] In one embodiment, the fixed constraint establishment module 308 is further configured to disconnect the card reader on the unmanned vehicle from the identification chip on the item when the unmanned vehicle unloads the goods and drives away from the item; receive the chip information of the identification chip fed back by the unmanned vehicle, as well as the location information when unloading, and mark the unloaded item with the second mark according to the chip information and the location information.

[0043] In one embodiment, it further includes a visualization module, which is used to dynamically display the preset area corresponding to the moving constraint and the preset area of ​​the fixed constraint as pollution source areas in the visualization interface.

[0044] In one embodiment, the dynamic programming module 310 is further configured to obtain the coordinate interval corresponding to each trajectory point in the motion equation corresponding to the moving constraint, and the coordinate interval corresponding to the fixed constraint in the scheduling area coordinate system; when performing dynamic programming, the coordinate interval of the trajectory point corresponding to the motion equation at the current moment, and the coordinate interval corresponding to the fixed constraint are used as the rejection area to update the trajectory of the unmarked unmanned vehicle.

[0045] In one embodiment, the system further includes: a disinfection module, configured to receive unmanned vehicle information sent by a short-range communication device and store the unmanned vehicle information in a first form; a disinfection area is set up in the scheduling area; when a marked unmanned vehicle enters the disinfection area and establishes a connection with a second short-range communication device in the disinfection area, the unmanned vehicle information is obtained and matched with the unmanned vehicle information stored in the first form; when a match is successful, the unmanned vehicle information in the first form is deleted and the marking status of the unmanned vehicle is removed.

[0046] In one embodiment, the disinfection module is further configured to receive chip information from the identification chip fed back by the unmanned vehicle, as well as location information during unloading, and store the chip information and location information in a second form accordingly; a disinfection device is set up in the scheduling area, and when a third short-range communication device on the disinfection device establishes a connection with the identification chip on the item, the chip information is read and matched with the chip information stored in the second form; when the match is successful, the chip information in the second form is deleted and the item's marking status is removed.

[0047] Specific limitations regarding the unmanned vehicle scheduling device can be found in the limitations of the unmanned vehicle scheduling method described above, and will not be repeated here. Each module in the aforementioned unmanned vehicle scheduling device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0048] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data on tagged unmanned vehicles and objects. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements an unmanned vehicle scheduling method.

[0049] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0050] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method described above.

[0051] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0052] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for scheduling unmanned vehicles, characterized in that, The method includes: Traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas; Receive multiple unmanned vehicle dispatch instructions, and perform trajectory planning for the unmanned vehicles according to the dispatch instructions; When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle is marked with a first mark, and a preset area centered on the unmanned vehicle marked with the first mark is used as a movement constraint. When the unmanned vehicle marked with the first mark unloads goods, the unloaded transported items are marked with the second mark, and a preset area centered on the transported items marked with the second mark is used as a fixed constraint. Based on the movement constraints and the fixed constraints, real-time dynamic planning is performed on the unmarked unmanned vehicle trajectory.

2. The method according to claim 1, characterized in that, When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle is marked using a first marker, including: When the unmanned vehicle enters the pollution source area according to the planned trajectory, the unmanned vehicle establishes a connection with the first short-range communication device in the pollution source area; The system receives unmanned vehicle information sent by a first short-range communication device and marks the unmanned vehicle using a first marker.

3. The method according to claim 1, characterized in that, When the unmanned vehicle marked with the first mark unloads goods, the unloaded items are marked with a second mark, including: When the first marked unmanned vehicle unloads the goods and drives away from the items, the card reader on the unmanned vehicle disconnects from the identification chip on the items. The system receives chip information from the identification chip fed back by the unmanned vehicle, as well as location information during unloading, and marks the transported items using the second tag based on the chip information and the location information.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The preset areas corresponding to the moving constraints and the preset areas of the fixed constraints are dynamically displayed as pollution source areas in the visualization interface.

5. The method according to any one of claims 1 to 3, characterized in that, Based on the movement constraints and the fixed constraints, real-time dynamic planning is performed on the unmarked autonomous vehicle trajectory, including: In the coordinate system of the scheduling area, obtain the coordinate interval corresponding to each trajectory point in the motion equation corresponding to the moving constraint, as well as the coordinate interval corresponding to the fixed constraint; During dynamic programming, the coordinate intervals of the trajectory points corresponding to the motion equations at the current moment, as well as the coordinate intervals corresponding to the fixed constraints, are used as rejection regions to update the trajectory of unmarked autonomous vehicles.

6. The method according to claim 2, characterized in that, The method further includes: Receive unmanned vehicle information sent by a first short-range communication device and store the unmanned vehicle information in a first form; A disinfection zone is set up in the scheduling area. When a marked unmanned vehicle enters the disinfection zone and establishes a connection with the second short-range communication device in the disinfection zone, the unmanned vehicle information is obtained and matched with the unmanned vehicle information stored in the first form. When a match is successful, delete the driverless car information from the first form and remove the driverless car's marker status.

7. The method according to claim 3, characterized in that, The method further includes: Receive chip information from the identification chip fed back by the unmanned vehicle, as well as the location information during unloading, and save the chip information and the location information in the second form accordingly; Disinfection equipment is set up in the dispatch area. When the third short-range communication device on the disinfection equipment establishes a connection with the identification chip on the item, it reads the chip information and matches it with the chip information stored in the second form. When a match is found, delete the chip information from the second form and remove the item's tag status.

8. An unmanned vehicle dispatching device, characterized in that, The device includes: The traversal module is used to traverse the pollution source areas in the scheduling area, as well as the items to be transported in the pollution source areas; The initial planning module is used to receive autonomous vehicle scheduling instructions from multiple autonomous vehicles and to plan the trajectories of the autonomous vehicles according to the autonomous vehicle scheduling instructions; The movement constraint establishment module is used to mark the unmanned vehicle with a first mark when the unmanned vehicle enters the pollution source area according to the planned trajectory, and to use a preset area centered on the unmanned vehicle with the first mark as the movement constraint. The fixed constraint establishment module is used to mark the unloaded transported items with a second mark when the unmanned vehicle marked with the first mark is unloading, and to use a preset area centered on the transported items marked with the second mark as a fixed constraint. The dynamic programming module is used to perform real-time dynamic programming of the unmarked unmanned vehicle trajectory based on the movement constraints and the fixed constraints.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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