Transport vehicle scheduling method and system

Abstract

The embodiment of the invention provides a transport vehicle scheduling method and system, and relates to the technical field of machine control, and the method comprises the steps: generating a feeding task for a machine table when the remaining material use duration of the machine table is a first duration; controlling the target transport vehicle to run to a channel area in front of the machine table in response to the feeding task of the machine table; acquiring a second time length after the target transport vehicle arrives at the channel area in front of the machine, wherein the first time length is greater than the second time length; judging whether the target transport vehicle needs to wait or not according to the second duration; if yes, controlling the target transport vehicle to keep a waiting posture; if not, the target transport vehicle is controlled to be adjusted to be in the butt joint posture, and feeding is conducted after butt joint with the machine table is completed. According to the method, the feeding task of the machine table is generated in advance, the transport vehicle can reach the machine table in advance, more sufficient time is provided for follow-up butt-joint loading of the machine table and the transport vehicle, the time that materials exist in the machine table can be prolonged, and therefore the working efficiency of the machine table is improved.

Description

Technical Field

[0001] The present application relates to the field of machine control technology, and in particular to a transport vehicle scheduling method and system. Background Art

[0002] Transport vehicles, such as AGV (Automated Guided Vehicle), are transport vehicles equipped with automatic guidance devices, capable of traveling along a specified guidance path, with safety protection and various transfer functions. They are wheeled mobile robots. The manufacturing industry often uses transport vehicles in conjunction with material machines to transfer and transport materials, such as Figure 1-1 As shown in the figure, a common method is to set up running channels between multiple material machines to allow multiple transport vehicles to pass through. However, in this process, due to the large number of transport vehicles, the material transportation and transfer between the transport vehicles and the material machines need to be coordinated, otherwise the material machines are prone to waiting ineffectively. For example, the material of the material machine (hereinafter referred to as the machine) has been used up, but the transport vehicle has not yet loaded the material to the machine; in addition, since the direction of the transport vehicle needs to be adjusted when docking with the machine, the docking posture of the transport vehicle after adjustment will cause congestion in the channel, making it impossible for other transport vehicles to pass, thereby reducing the overall efficiency, such as Figure 1-2 shown. Summary of the invention

[0003] The purpose of the embodiment of the present application is to provide a method and system for dispatching a transport vehicle to improve the working efficiency of a machine. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a transport vehicle scheduling method, comprising:

[0005] When the remaining material usage time of the machine is the first time length, generating a material loading task for the machine;

[0006] In response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine;

[0007] After the target transport vehicle arrives at the channel area in front of the machine, obtaining a second time duration, wherein the first time duration is greater than the second time duration;

[0008] Determining whether the target transport vehicle needs to wait according to the second time duration;

[0009] If yes, the target transport vehicle is controlled to maintain a waiting posture;

[0010] If not, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed;

[0011] Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0012] In one embodiment of the present application, the second duration is the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine;

[0013] The step of judging whether the target transport vehicle needs to wait according to the second time period includes:

[0014] Determine whether the second time duration is greater than the sum of the docking posture adjustment time of the target transport vehicle and the loading time of the transport vehicle, wherein the docking posture adjustment time duration is the time required for the target transport vehicle to adjust from a posture parallel to the long side direction and the passing direction to a docking posture docking with the machine after arriving at the passage area in front of the machine.

[0015] In one embodiment of the present application, the second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle;

[0016] The determining whether the target transport vehicle needs to wait according to the second time period includes: determining whether other transport vehicles pass through the passage area in front of the machine within the second time period;

[0017] After the step of controlling the target transport vehicle to maintain a waiting posture, the method further includes:

[0018] After waiting for the other transport vehicles to pass through the passage area in front of the machine, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing docking with the machine.

[0019] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0020] In one embodiment of the present application, in response to the loading task of the machine, controlling the target transport vehicle to travel to the passage area in front of the machine includes:

[0021] In response to the material loading task of the machine, determining the target material type of the material required by the machine;

[0022] Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0023] Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0024] The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle after loading is controlled to travel to the passage area in front of the machine.

[0025] In one embodiment of the present application, the determining whether other transport vehicles pass through the passage area in front of the machine within the second time period includes:

[0026] Obtaining the current location information and transportation path information of each transport vehicle in the scene;

[0027] Determine, based on the current position and transport path information of each of the transport vehicles, a first type of transport vehicle that will pass through the passage area in front of the machine in the future;

[0028] Determine the predicted travel time required for each of the first-type transport vehicles to travel to the passage area in front of the machine according to the current position and transport path information of each of the first-type transport vehicles;

[0029] When there is a predicted travel time shorter than the second time, determining that another transport vehicle passes through the passage area in front of the machine within the second time, wherein the other transport vehicle is a first-category transport vehicle whose predicted travel time is shorter than the second time;

[0030] When there is no predicted travel time shorter than the second time, it is determined that no other transport vehicle passes through the passage area in front of the machine within the second time.

[0031] In one embodiment of the present application, before the step of determining whether other transport vehicles pass through the passage area in front of the machine within the second time period, the method further includes:

[0032] Determine whether the material of the machine has been used up;

[0033] If the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed;

[0034] If the material of the machine has not been used up, the execution step is triggered: determining whether other transport vehicles pass through the passage area in front of the machine within the second time period.

[0035] In a second aspect, the embodiment of the present application further provides a transport vehicle scheduling method, comprising:

[0036] When the remaining material usage time of the machine is the first time length, generating a material loading task for the machine;

[0037] In response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine;

[0038] After the target transport vehicle arrives at the passage area in front of the machine, controlling the target transport vehicle to maintain a waiting posture;

[0039] After the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed;

[0040] Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0041] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0042] In one embodiment of the present application, in response to the loading task of the machine, controlling the target transport vehicle to travel to the passage area in front of the machine includes:

[0043] In response to the material loading task of the machine, determine the target material type of the material required by the machine;

[0044] Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0045] Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0046] The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle that has completed loading is controlled to travel to the passage area in front of the machine.

[0047] In a third aspect, the embodiment of the present application further provides a transport vehicle scheduling system, including: a material control server, a robot control server and a transport vehicle, wherein:

[0048] The material control server is used to generate a material loading task for the machine when the remaining material usage time of the machine is the first time length;

[0049] The robot control server is used to control the target transport vehicle to travel to the passage area in front of the machine in response to the loading task of the machine; after the target transport vehicle arrives at the passage area in front of the machine, obtain a second time length, wherein the first time length is greater than the second time length; determine whether the target transport vehicle needs to wait according to the second time length; if so, control the target transport vehicle to maintain a waiting posture; if not, control the target transport vehicle to adjust to a docking posture, and load the material after completing the docking with the machine;

[0050] Or, in response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine; after the target transport vehicle arrives at the passage area in front of the machine, the target transport vehicle is controlled to maintain a waiting posture; after the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed;

[0051] Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0052] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0053] In one embodiment of the present application,

[0054] The robot control server is specifically used to respond to the loading task of the machine, determine the target material type of the material required by the machine; obtain the loading point of the transport vehicle of the target material type, and obtain the loading point of the target transport vehicle; among each idle transport vehicle, select the transport vehicle closest to the loading point of the target transport vehicle to obtain the target transport vehicle; control the target transport vehicle to travel to the loading point of the target transport vehicle for loading, and control the target transport vehicle that has completed loading to travel to the passage area in front of the machine.

[0055] In one embodiment of the present application, the second duration is the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine;

[0056] The robot control server is specifically used to determine whether the second time duration is greater than the sum of the docking posture adjustment time duration of the target transport vehicle and the transport vehicle loading time duration, wherein the docking posture adjustment time duration is the time duration required for the target transport vehicle to adjust from a posture parallel to the travel direction in the long side direction to a docking posture for docking with the machine after the target transport vehicle arrives at the passage area in front of the machine.

[0057] In one embodiment of the present application, the second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle;

[0058] The robot control server is specifically used to determine whether there are other transport vehicles passing through the channel area in front of the machine within the second time period; if so, the target transport vehicle is controlled to maintain a waiting posture, and after waiting for the other transport vehicles to pass through the channel area in front of the machine, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing the docking with the machine.

[0059] In one embodiment of the present application, the robot control server is specifically used to obtain the current position information and transportation path information of each transport vehicle in the scene; determine the first type of transport vehicles that will pass through the channel area in front of the machine in the future according to the current position and transportation path information of each of the transport vehicles; determine the predicted driving time required for each of the first type of transport vehicles to travel to the channel area in front of the machine according to the current position and transportation path information of each of the first type of transport vehicles; when there is a predicted driving time less than the second time length, determine that other transport vehicles pass through the channel area in front of the machine within the second time length, wherein the other transport vehicles are first type of transport vehicles with a predicted driving time less than the second time length; when there is no predicted driving time less than the second time length, determine that no other transport vehicles pass through the channel area in front of the machine within the second time length.

[0060] In one embodiment of the present application, before executing the step of determining whether other transport vehicles have passed through the passage area in front of the machine within the second time period, the robot control server is also used to: determine whether the materials of the machine have been used up; if the materials of the machine have been used up, control the target transport vehicle to adjust to a docking posture, and load the materials after completing the docking with the machine; wherein, if the materials of the machine have not been used up, triggering the execution step of determining whether other transport vehicles have passed through the passage area in front of the machine within the second time period.

[0061] In a fourth aspect, an embodiment of the present application provides a transport vehicle scheduling device, including:

[0062] A first task generating module, configured to generate a material loading task for the machine when the remaining material usage time of the machine is a first time length;

[0063] A first transport vehicle control module, used to control the target transport vehicle to travel to the passage area in front of the machine in response to the material loading task of the machine;

[0064] A duration acquisition module, used to acquire a second duration after the target transport vehicle arrives at the channel area in front of the machine, wherein the first duration is greater than the second duration;

[0065] An area determination module, used for determining whether the target transport vehicle needs to wait according to the second time duration;

[0066] A first waiting posture maintaining module, used for controlling the target transport vehicle to maintain a waiting posture if yes;

[0067] The first loading module is used to control the target transport vehicle to adjust to the docking posture if not, and to load the material after completing the docking with the machine; wherein, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in the docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0068] In one embodiment of the present application, the second duration is the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine;

[0069] The area determination module is specifically used for:

[0070] Determine whether the second time duration is greater than the sum of the docking posture adjustment time of the target transport vehicle and the loading time of the transport vehicle, wherein the docking posture adjustment time duration is the time required for the target transport vehicle to adjust from a posture parallel to the long side direction and the passing direction to a docking posture docking with the machine after arriving at the passage area in front of the machine.

[0071] In one embodiment of the present application, the second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle;

[0072] The area determination module includes: an area determination submodule, which is used to determine whether other transport vehicles pass through the passage area in front of the machine within the second time period;

[0073] The device also includes:

[0074] The second loading module is used to control the target transport vehicle to adjust to a docking posture after waiting for the other transport vehicle to pass through the passage area in front of the machine, and to load materials after completing the docking with the machine.

[0075] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0076] In one embodiment of the present application, the first transport vehicle control module is specifically used to:

[0077] In response to the material loading task of the machine, determining the target material type of the material required by the machine;

[0078] Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0079] Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0080] The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle after loading is controlled to travel to the passage area in front of the machine.

[0081] In one embodiment of the present application, the region determination submodule is specifically used to:

[0082] Obtaining the current location information and transportation path information of each transport vehicle in the scene;

[0083] Determine, based on the current position and transport path information of each of the transport vehicles, a first type of transport vehicle that will pass through the passage area in front of the machine in the future;

[0084] Determine the predicted travel time required for each of the first-type transport vehicles to travel to the passage area in front of the machine according to the current position and transport path information of each of the first-type transport vehicles;

[0085] When there is a predicted travel time shorter than the second time, determining that another transport vehicle passes through the passage area in front of the machine within the second time, wherein the other transport vehicle is a first-category transport vehicle whose predicted travel time is shorter than the second time;

[0086] When there is no predicted travel time shorter than the second time, it is determined that no other transport vehicle passes through the passage area in front of the machine within the second time.

[0087] In one embodiment of the present application, the device further includes:

[0088] A material usage judgment module is used to judge whether the material of the machine has been used up;

[0089] The third loading module is used to control the target transport vehicle to adjust to a docking posture if the material of the machine is used up, and to load the material after completing the docking with the machine; wherein, if the material of the machine is not used up, the execution step is triggered: determining whether there are other transport vehicles passing through the passage area in front of the machine within the second time length.

[0090] In a fifth aspect, the embodiment of the present application further provides a transport vehicle scheduling method, comprising:

[0091] A second task generating module, configured to generate a material loading task for the machine when the remaining material usage time of the machine is the first time length;

[0092] A second transport vehicle control module, for controlling the target transport vehicle to travel to the passage area in front of the machine in response to the material loading task of the machine;

[0093] A second waiting posture maintaining module, used to control the target transport vehicle to maintain a waiting posture after the target transport vehicle arrives at the passage area in front of the machine;

[0094] The fourth loading module is used to control the target transport vehicle to adjust to a docking posture after the materials of the machine are used up, and to load materials after completing the docking with the machine; wherein, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0095] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0096] In one embodiment of the present application, the second transport vehicle control module is specifically used to:

[0097] In response to the material loading task of the machine, determine the target material type of the material required by the machine;

[0098] Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0099] Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0100] The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle that has completed loading is controlled to travel to the passage area in front of the machine.

[0101] In a sixth aspect, an embodiment of the present application further provides an electronic device, including:

[0102] Memory, used to store computer programs;

[0103] The processor is used to implement any of the above-mentioned transport vehicle scheduling methods when executing the program stored in the memory.

[0104] In a seventh aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the transport vehicle scheduling method described above is implemented.

[0105] In an eighth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described transport vehicle scheduling methods.

[0106] Beneficial effects of the embodiments of the present application:

[0107] The transport vehicle scheduling method provided in the embodiment of the present application generates a loading task for the machine when the remaining material usage time of the machine is a first time length. Generating the loading task for the machine in advance can enable the transport vehicle to arrive at the machine in advance, providing more ample time for the subsequent docking and loading of the machine and the transport vehicle, and can increase the time when the machine has materials in it, thereby improving the working efficiency of the machine.

[0108] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0110] Figure 1-1 An example diagram of a transport vehicle and a material machine transferring materials provided in an embodiment of the present application;

[0111] Figure 1-2 This is an example diagram of a transport vehicle and a material machine docking to block the passage of other transport vehicles provided in an embodiment of the present application;

[0112] Figure 2-1A schematic diagram of a flow chart of a first transport vehicle scheduling method provided in an embodiment of the present application;

[0113] Figure 2-2 An example diagram of a transport vehicle passing through a passage area in front of each machine provided in an embodiment of the present application;

[0114] Figure 2-3 An example diagram of a target transport vehicle waiting for other transport vehicles to pass provided in an embodiment of the present application;

[0115] Figure 2-4 An example diagram of a target transport vehicle and a machine platform docking and loading materials provided in an embodiment of the present application;

[0116] Figure 3 A possible implementation method of step S12 provided in the embodiment of the present application;

[0117] Figure 4 A schematic diagram of a process for determining whether other transport vehicles pass through the passage area in front of the machine within a second time period provided by an embodiment of the present application;

[0118] Figure 5 A schematic diagram of a flow chart of a second transport vehicle scheduling method provided in an embodiment of the present application;

[0119] Figure 6 A possible implementation method of step S42 provided in the embodiment of the present application;

[0120] Figure 7-1 A schematic diagram of the structure of a transport vehicle scheduling system provided in an embodiment of the present application;

[0121] Figure 7-2 An example diagram of a transport vehicle scheduling system provided in an embodiment of the present application;

[0122] Figure 8 A schematic diagram of the structure of a first transport vehicle scheduling device provided in an embodiment of the present application;

[0123] Fig. 9 A schematic diagram of the structure of a second transport vehicle scheduling device provided in an embodiment of the present application;

[0124] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0125] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0126] Due to the large number of machines and transport vehicles in the system, the docking and material transportation and delivery between each transport vehicle and each machine need to be coordinated, otherwise the machine may easily wait ineffectively. For example, the material of the machine has been used up, but the transport vehicle has not yet loaded the material to the machine; in addition, since the direction of the transport vehicle needs to be adjusted when docking with the material machine, the docking posture of the transport vehicle after the adjustment may cause congestion in the channel, making it impossible for other transport vehicles to pass, thereby reducing the overall efficiency. In order to solve at least one of the above problems, an embodiment of the present application provides a transport vehicle scheduling method and system.

[0127] The following is a detailed explanation through specific embodiments.

[0128] First, the terms that may be involved in the embodiments of this application are explained:

[0129] Docking posture: When the transport vehicle is docking with the machine equipment, the posture of the transport vehicle is adjusted to ensure the docking accuracy of the transport vehicle and the machine equipment. This adjusted operating posture is called the transport vehicle docking posture.

[0130] like Figure 2-1 As shown, the embodiment of the present application provides a flow chart of a first transport vehicle scheduling method, including:

[0131] Step S11: when the remaining material usage time of the machine is the first time, generating a material loading task for the machine.

[0132] Machine refers to the material machine equipment used for loading and unloading materials. The scene includes multiple machines, each of which is placed with materials that need to be transported by a transport vehicle. The materials are transferred by docking with the transport vehicle and loading and unloading materials, and then transported by the transport vehicle. Materials refer to all materials, fuels, parts, semi-finished products, outsourced parts, and scraps, scraps, and various wastes that are inevitably generated during the production process, which need to be transported, other than the final product. There is no limitation here.

[0133] Monitor the remaining materials of each machine in the scene to determine the remaining material usage time of the machine. The remaining material usage time refers to the time the current materials of the machine can be used. When the remaining materials of the machine are used up, a transport vehicle is needed to load the materials in time. When the remaining material usage time of the machine is the first time, it means that the remaining materials of the machine are not much, and a transport vehicle is needed to transport the materials in time to prepare for docking and loading. At this time, a loading task for the machine is generated.

[0134] Specifically, the first time duration is a pre-set time duration value, which is used to indicate that the machine needs to be loaded with materials in advance when the remaining material usage time of the machine is this value.

[0135] Step S12: In response to the loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine.

[0136] The passage area for each transport vehicle to pass through in the scene is located in front of each machine, such as Figure 2-2 As shown, the machines are arranged on both sides, and there is a passage area in front of each machine for each transport vehicle to pass through. In response to the loading task of the machine, the target transport vehicle is controlled to drive to the passage area in front of the machine to prepare for subsequent docking and loading.

[0137] In one example, the material loading task of the above-mentioned machine may include content or identification for representing the machine, so that the machine that needs to be loaded can be determined among the machines in the scene, and then the target transport vehicle is controlled to travel to the passage area in front of the machine.

[0138] Step S13: After the target transport vehicle arrives at the channel area in front of the machine, a second duration is obtained;

[0139] Among them, the first duration is longer than the second duration.

[0140] Step S14: determining whether the target transport vehicle needs to wait according to the second time duration;

[0141] The second time length can be used as a basis for determining whether the target transport vehicle can dock with the machine at the current moment, thereby determining whether the target transport vehicle needs to wait at the moment based on the second time length. For example, the second time length can be the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine; for example, the second time length can be the sum of the docking posture adjustment time of the target transport vehicle and the material loading time of the transport vehicle.

[0142] Step S15: If yes, control the target transport vehicle to maintain a waiting posture;

[0143] Step S16: If not, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing docking with the machine.

[0144] Among them, when the target transport vehicle maintains a waiting posture, that is, when the target transport vehicle stays in the channel area in front of the machine, the long side direction of the target transport vehicle is parallel to the travel direction of the channel area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the channel area.

[0145] The target transport vehicle enters and exits with its long side during transportation, that is, the long side direction of the target transport vehicle is parallel to the passage direction of the channel area when passing through. When the target transport vehicle is docked with the machine, the long side direction of the target transport vehicle is perpendicular to the passage direction of the channel area, such as Figure 2-2 As shown, this can ensure the efficiency of docking loading as much as possible.

[0146] The channel area in the scene is located in front of each machine. When the target transport vehicle docks with the machine to load materials, since the long side of the target transport vehicle is perpendicular to the passage direction of the channel area, it will hinder other transport vehicles from passing through the channel area in front of the machine, such as Figure 2-2 As shown, during the process of the target transport vehicle A docking and loading with the machine B, the transport vehicle C will be blocked from passing through the passage area in front of the machine B.

[0147] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half of the width of the passage area in front of the machine, the short side length of the target transport vehicle is less than half of the width of the passage area, and the long side length of the target transport vehicle is less than the width of the passage area. Therefore, when the long side direction of the target transport vehicle is perpendicular to the passage direction of the passage area, it will hinder other transport vehicles from passing through the passage area in front of the machine. When the long side direction is parallel to the passage direction of the passage area, it will not hinder the normal passage of other transport vehicles, thereby improving the passage convenience of the transport vehicle and the dispatching efficiency of the transport vehicle.

[0148] Therefore, when the target transport vehicle maintains a waiting posture, its long side direction is parallel to the passage direction of the channel area, thereby avoiding obstruction to the passage of other transport vehicles.

[0149] If it is determined according to the second time length that the target transport vehicle needs to wait at this time, the target transport vehicle is controlled to maintain a waiting posture with the long side direction parallel to the traffic direction of the channel area; if it is determined according to the second time length that the target transport vehicle does not need to wait at this time, the target transport vehicle is controlled to adjust the docking posture and dock with the machine, and load the material after the docking is completed.

[0150] As can be seen from the above, the transport vehicle scheduling method provided in the embodiment of the present application first generates a loading task for the machine when the remaining material usage time of the machine is the first time length. Generating the loading task of the machine in advance can provide more ample time for the subsequent docking and loading of the machine and the transport vehicle; secondly, in response to the loading task of the machine, the target transport vehicle is controlled to travel to the channel area in front of the machine; after the target transport vehicle arrives at the channel area in front of the machine, a second time length is obtained, and according to the second time length, it is determined whether the transport vehicle needs to wait; if so, it means that at this time the target transport vehicle and the machine cannot be docked for loading. Since the loading task is generated in advance, the target transport vehicle and the machine have sufficient time for docking, and therefore the target transport vehicle is controlled to maintain a waiting posture at present; when it is determined that the transport vehicle does not need to wait, that is, it means that at this time the target transport vehicle and the machine can be docked for loading, the target transport vehicle is controlled to adjust the docking posture to dock with the machine, and load the material after the docking is completed.

[0151] The embodiment of the present application provides more ample time margin for the subsequent docking and loading of the target transport vehicle and the machine by generating the loading task of the machine in advance, so that the target transport vehicle can maintain a waiting posture when it is temporarily unable to dock and load materials, thereby realizing the waiting and avoidance of the transport vehicle in ample time. In addition, since the long side direction of the target transport vehicle is parallel to the traffic direction of the channel area when maintaining the waiting posture, the long side direction is perpendicular to the traffic direction of the channel area only when the target transport vehicle is in the docking posture, thereby avoiding as much as possible the traffic obstruction that the transport vehicle may cause to the docking and loading or normal passage of other transport vehicles when waiting for avoidance and docking and loading, thereby improving the operation efficiency of the transport vehicle. At the same time, when it is determined that docking and loading are possible, docking and loading with the machine are carried out in time, further improving the overall scheduling efficiency of the transport vehicle and the overall efficiency of material transportation.

[0152] In one embodiment of the present application, the second duration is the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine;

[0153] The above step S14 determines whether the target transport vehicle needs to wait according to the second time period, including:

[0154] It is determined whether the second time duration is greater than the sum of the docking posture adjustment time duration of the target transport vehicle and the material loading time duration of the transport vehicle.

[0155] The docking posture adjustment time is the time required for the target transport vehicle to adjust from a posture in which the long side direction is parallel to the travel direction to a docking posture for docking with the machine after the target transport vehicle arrives at the passage area in front of the machine.

[0156] The loading time of the transport vehicle is the time required for loading materials after the target transport vehicle is docked with the machine.

[0157] If after the target transport vehicle arrives at the passage area in front of the machine, the remaining material usage time of the machine is still greater than the sum of the docking posture adjustment time of the target transport vehicle and the loading time of the transport vehicle, it means that the amount of remaining material in the machine is relatively sufficient and does not need to be docked and loaded immediately. In this case, it is determined that the target transport vehicle needs to wait, and the target transport vehicle is controlled to maintain a waiting posture.

[0158] If after the target transport vehicle arrives at the passage area in front of the machine, the remaining material usage time of the machine is not greater than the sum of the docking posture adjustment time of the target transport vehicle and the loading time of the transport vehicle, it means that the amount of remaining materials in the machine is relatively tight and needs to be docked and loaded immediately. In this case, it is determined that the target transport vehicle does not need to wait, and the target transport vehicle is controlled to adjust to the docking posture, and loading is carried out after completing the docking with the machine.

[0159] As can be seen from the above, the transport vehicle scheduling method provided in the embodiment of the present application, after the target transport vehicle arrives at the channel area in front of the machine, also determines whether loading is currently needed again based on the usage time of the remaining materials in the machine, thereby avoiding the situation where the target transport vehicle is docked for loading when the amount of remaining materials in the machine is relatively abundant, thereby improving the accuracy of docking and loading between the target transport vehicle and the machine, and further improving the overall efficiency of material transportation.

[0160] In one embodiment of the present application, the second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle;

[0161] The above step S14 determines whether the target transport vehicle needs to wait according to the second time period, including:

[0162] Determining whether other transport vehicles pass through the passage area in front of the machine within the second time period;

[0163] After the step S15 above in which the target transport vehicle is controlled to maintain a waiting posture, the method further includes:

[0164] After waiting for the other transport vehicles to pass through the passage area in front of the machine, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing docking with the machine.

[0165] As mentioned above, since the long side direction of the target transport vehicle is perpendicular to the traffic direction of the channel area, it will hinder other transport vehicles from passing through the channel area in front of the machine. Therefore, before the target transport vehicle docks with the machine for loading, it is necessary to first determine whether the docking and loading process will hinder the passage of other transport vehicles, that is, to determine whether there are other transport vehicles passing through the channel area in front of the machine within the second time length. Specifically, the second time length is a pre-set time length value, indicating that if other transport vehicles need to pass through the channel area in front of the machine within this time length, the docking of the target transport vehicle with the machine will hinder the passage of other transport vehicles.

[0166] If it is determined that other transport vehicles pass through the passage area in front of the machine within the second time period, it means that the target transport vehicle docking with the machine to load materials will hinder other transport vehicles from passing through the passage area in front of the machine. Therefore, the target transport vehicle is controlled to maintain a waiting posture, waiting for other transport vehicles to pass through the passage area in front of the machine, and then the target transport vehicle is controlled to adjust the docking posture and dock with the machine, and loading is carried out after the docking is completed.

[0167] like Figure 2-3 and Figure 2-4 As shown, after waiting for the transport vehicle C to pass through the channel area in front of the machine B, the target transport vehicle A adjusts the docking posture and loads the material after completing the docking with the machine B.

[0168] If it is determined that no other transport vehicles pass through the passage area in front of the machine within the second time period, it means that the target transport vehicle docking with the machine for loading materials will not hinder other transport vehicles from passing through the passage area in front of the machine. The target transport vehicle is directly controlled to adjust the docking posture and dock with the machine, and loading is carried out after the docking is completed.

[0169] In one embodiment of the present application, the first time duration is greater than the sum of the time duration for adjusting the docking posture between the transport vehicle and the machine and the preset vehicle driving time; the second time duration is greater than the sum of the time duration for adjusting the docking posture between the transport vehicle and the machine and the loading time of the transport vehicle.

[0170] Among them, the docking posture adjustment time is the time required for adjusting the docking posture when the pre-tested transport vehicle and the machine are docked; the preset vehicle driving time is the time required for the preset transport vehicle in the entire transportation process. In an example, the preset vehicle driving time is the time taken by the transport vehicle to travel from the transport vehicle loading position to the channel area in front of the machine. If the first time is greater than the sum of the docking posture adjustment time between the transport vehicle and the machine and the preset vehicle driving time, then the docking posture adjustment time and the preset vehicle driving time can be taken into account, and the loading task of the machine can be generated in advance, so that there is sufficient time between the transport vehicle and the machine for transportation, docking, and loading.

[0171] The loading time of the transport vehicle is the pre-tested time required for the transport vehicle to load the materials to the machine. The second time is greater than the sum of the docking posture adjustment time between the transport vehicle and the machine and the loading time of the transport vehicle. This can fully take into account the possible obstruction to the passage of other transport vehicles caused by the docking and loading of the transport vehicle with the machine.

[0172] As can be seen from the above, the transport vehicle scheduling method provided in the embodiment of the present application provides more ample time margin for the docking and loading of the subsequent target transport vehicle and the machine by generating the loading task of the machine in advance, so that the target transport vehicle can carry out docking and loading after waiting for other transport vehicles that may be blocked from passing, thereby realizing avoidance between transport vehicles, thereby avoiding as much as possible the obstruction of the normal passage of other transport vehicles caused by docking and loading, improving the operation and scheduling efficiency of the transport vehicle, and at the same time, it can also carry out docking and loading in time when it is determined that it will not cause obstruction to the passage of other transport vehicles, further improving the overall operation efficiency of the transport vehicle and the overall efficiency of material transportation.

[0173] In one embodiment of the present application, Figure 3 As shown, the above step S12 controls the target transport vehicle to travel to the channel area in front of the machine in response to the loading task of the machine, including:

[0174] Step S21: In response to the material loading task of the machine, determine the target material type of the material required by the machine.

[0175] Step S22: Acquire the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle.

[0176] Step S23: From among the idle transport vehicles, select the transport vehicle closest to the loading point of the target transport vehicle to obtain the target transport vehicle.

[0177] Step S24: Control the target transport vehicle to travel to the target transport vehicle loading point for loading, and control the target transport vehicle that has completed loading to travel to the passage area in front of the machine.

[0178] In the embodiment of the present application, the material type required by each machine in the scene is different. For example, some machines require spare parts, while some machines require semi-finished products. Therefore, when responding to the loading task of the machine, the target material type of the material required by the machine is first determined.

[0179] It is understandable that the target transport vehicle first needs to load the materials at the transport vehicle loading point, and then transport the loaded materials to the machine, and the transport vehicle loading points for different types of materials are different. Therefore, after determining the target material type, it is also necessary to first obtain the transport vehicle loading point where the material of the target material type is located, that is, the target transport vehicle loading point.

[0180] After obtaining the loading point of the target transport vehicle, the transport vehicle closest to the point is selected to prepare for loading and transportation, and the target transport vehicle is obtained. In an example, the target transport vehicle to be selected should be an idle transport vehicle closest to the point, that is, a transport vehicle that is not currently transporting materials of other types.

[0181] Then the target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and after the loading is completed, the target transport vehicle is controlled to travel to the passage area in front of the machine.

[0182] As can be seen from the above, the transport vehicle scheduling method provided in the embodiment of the present application, when responding to a loading task, first determines the target material type required by the machine, and then selects the transport vehicle that is closest to the target transport vehicle loading point corresponding to the target material type as the target transport vehicle to carry out loading and transportation, thereby reducing the transport distance of the transport vehicle as much as possible and further improving the efficiency of loading, transportation, and loading of the transport vehicle.

[0183] In one embodiment of the present application, Figure 4 As shown, the above steps of determining whether there are other transport vehicles passing through the passage area in front of the machine within the second time period include:

[0184] Step S31: obtaining the current position information and transportation path information of each transport vehicle in the scene;

[0185] Step S32: determining the first type of transport vehicles that will pass through the passage area in front of the machine in the future according to the current position and transport path information of each transport vehicle;

[0186] Step S33: determining the predicted travel time required for each of the first-type transport vehicles to travel to the passage area in front of the machine according to the current position and transport path information of each of the first-type transport vehicles;

[0187] Step S34: When there is a predicted travel time shorter than the second time, it is determined that other transport vehicles pass through the passage area in front of the machine within the second time.

[0188] The other transport vehicles are first-category transport vehicles whose predicted driving time is less than the second driving time;

[0189] Step S35: When there is no predicted travel time shorter than the second time period, it is determined that no other transport vehicle passes through the passage area in front of the machine within the second time period.

[0190] When judging whether there are other transport vehicles passing through the passage area in front of the machine within the second time period, first obtain the location information of the current location of each transport vehicle in the scene, as well as the path information of the transportation currently being carried out by each transport vehicle, and based on this, determine the transport vehicles among the transport vehicles that will pass through the passage area in front of the machine in the future under their respective transportation path information, and regard these transport vehicles as first-class transport vehicles.

[0191] Then, for each first-class transport vehicle, determine the predicted driving time required for each first-class transport vehicle to travel to the passage area in front of the machine from this moment on. If there is a first-class transport vehicle with a predicted driving time less than the second time, it means that the first-class transport vehicle will pass through the passage area in front of the machine within the second time. It can also be determined that if other transport vehicles pass through the passage area in front of the machine within the second time, it means that the target transport vehicle will hinder the passage of other transport vehicles when docking with the machine for loading materials at this moment. The target transport vehicle needs to wait for other transport vehicles to pass before docking with the machine for loading materials.

[0192] If there is no first-class transport vehicle with a predicted driving time less than the second time length, it means that no first-class transport vehicle has passed through the passage area in front of the machine within the second time length, and it can be determined that no other transport vehicle has passed through the passage area in front of the machine within the second time length, which means that the target transport vehicle will not hinder the passage of other transport vehicles when docking with the machine for loading at this moment, so the target transport vehicle can directly dock with the machine for loading.

[0193] As can be seen from the above, the transport vehicle scheduling method provided in the embodiment of the present application, when judging whether other transport vehicles pass through the passage area in front of the machine within the second time period, judges whether other transport vehicles will pass through the passage area in front of the machine within the second time period based on the location information of the current location of each transport vehicle in the scene and the path information of the transportation being carried out by each transport vehicle. This makes the judgment result more rigorous and practical. The subsequent operation of the target transport vehicle is determined based on this judgment result, which can further improve the overall operation efficiency of the transport vehicle.

[0194] In one embodiment of the present application, before the step of determining whether other transport vehicles pass through the passage area in front of the machine within the second time period, the method further includes:

[0195] Step 1: Determine whether the material of the machine has been used up;

[0196] Step 2: If the material of the machine is used up, control the target transport vehicle to adjust to the docking posture, and load the material after completing the docking with the machine; wherein, if the material of the machine is not used up, trigger the execution step: determine whether there are other transport vehicles passing through the passage area in front of the machine within the second time length.

[0197] After the target transport vehicle arrives at the passage area in front of the machine and before determining whether there are other transport vehicles passing through the passage area in front of the machine within a second time period, it is also determined whether the materials of the machine have been used up. If the materials of the machine have been used up, it is no longer considered whether it will hinder the passage of other transport vehicles. Instead, the target transport vehicle is directly controlled to adjust to the docking posture, and the material is loaded after completing the docking with the machine. If the materials of the machine have not been used up, it is determined whether there are other transport vehicles passing through the passage area in front of the machine within the second time period, and it is considered whether it will hinder the passage of other transport vehicles.

[0198] As can be seen from the above, in the method for dispatching transport vehicles provided by the embodiment of the present application, if the materials of the machine have been used up, the current docking and loading is more important than avoiding blocking other transport vehicles, and the target transport vehicle is directly controlled to dock and load materials with the machine. If the materials of the machine have not been used up, it is considered to avoid blocking other transport vehicles as much as possible, so as to improve the overall efficiency of material transportation.

[0199] like Figure 5 As shown, the embodiment of the present application also provides a flow chart of a second transport vehicle scheduling method, including:

[0200] Step S41: when the remaining material usage time of the machine is the first time, generating a material loading task for the machine;

[0201] Step S42: in response to the loading task of the machine, controlling the target transport vehicle to travel to the passage area in front of the machine;

[0202] Step S43: After the target transport vehicle arrives at the passage area in front of the machine, controlling the target transport vehicle to maintain a waiting posture;

[0203] Step S44: after the material of the machine is used up, the target transport vehicle is controlled to be adjusted to a docking posture, and the material is loaded after the docking with the machine is completed;

[0204] Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0205] In an embodiment of the present application, when the remaining material usage time of the machine is a first time length, a loading task for the machine is generated, and the target transport vehicle is controlled to respond to the loading task and drive to the channel area in front of the machine. After the target transport vehicle arrives at the channel area in front of the machine, the target transport vehicle is controlled to maintain a waiting posture until the material of the machine is used up, and then the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing the docking with the machine.

[0206] As can be seen from the above, the transport vehicle scheduling method provided by the embodiment of the present application always keeps the target transport vehicle in a waiting posture before the materials of the machine are used up, so as to avoid obstructing the passage of other transport vehicles and causing inconvenience to the overall material transportation, thereby improving the efficiency of transport vehicle scheduling and the overall efficiency of material transportation. At the same time, there is no need to judge the use time of the remaining materials of the machine, and it is only necessary to wait for the materials of the machine to be used up, and then control the target transport vehicle to adjust to the docking posture, and load the materials after completing the docking with the machine, which reduces the steps required for calculating the scheduling target transport vehicle, reduces the complexity of the transport vehicle scheduling scheme, and improves the feasibility of the transport vehicle scheduling method.

[0207] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half of the width of the passage area in front of the machine, the short side length of the target transport vehicle is less than half of the width of the passage area, and the long side length of the target transport vehicle is less than the width of the passage area, thereby improving the convenience of the transport vehicle's passage and the dispatching efficiency of the transport vehicle.

[0208] In one embodiment of the present application, Figure 6 As shown, the above step S42 controls the target transport vehicle to travel to the channel area in front of the machine in response to the loading task of the machine, including:

[0209] Step S51: In response to the material loading task of the machine, determine the target material type of the material required by the machine;

[0210] Step S52: Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0211] Step S53: From among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0212] Step S54: Control the target transport vehicle to travel to the target transport vehicle loading point for loading, and control the target transport vehicle that has completed loading to travel to the passage area in front of the machine.

[0213] As can be seen from the above, the transport vehicle scheduling method provided in the embodiment of the present application, when responding to a loading task, first determines the target material type required by the machine, and then selects the transport vehicle that is closest to the target transport vehicle loading point corresponding to the target material type as the target transport vehicle to carry out loading and transportation, thereby reducing the transport distance of the transport vehicle as much as possible and further improving the efficiency of loading, transportation, and loading of the transport vehicle.

[0214] In one embodiment of the present application, Figure 7-1 As shown, a schematic diagram of the structure of a transport vehicle scheduling system is provided, including: a material control server, a robot control server and a transport vehicle, wherein:

[0215] The material control server is used to generate a material loading task for the machine when the remaining material usage time of the machine is the first time length;

[0216] The robot control server is used to control the target transport vehicle to travel to the passage area in front of the machine in response to the loading task of the machine; after the target transport vehicle arrives at the passage area in front of the machine, obtain a second time length, wherein the first time length is greater than the second time length; determine whether the target transport vehicle needs to wait according to the second time length; if so, control the target transport vehicle to maintain a waiting posture; if not, control the target transport vehicle to adjust to a docking posture, and load the material after completing the docking with the machine;

[0217] Or, in response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine; after the target transport vehicle arrives at the passage area in front of the machine, the target transport vehicle is controlled to maintain a waiting posture; after the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed;

[0218] Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0219] like Figure 7-2 As shown, the material control server may include MCS (Meterial Control System), which is used to monitor and manage the loading and unloading tasks of the machine and the remaining materials of the machine. The material control server may be located at the business layer; the robot control server may include RCS (Robots control system), which is used to realize the control of the transport vehicle and is located at the control layer; the transport vehicle may be a common transport vehicle, such as an AGV vehicle, which is located at the execution layer.

[0220] As can be seen from the above, the transport vehicle scheduling system provided in the embodiment of the present application first generates a loading task for the machine when the remaining material usage time of the machine is the first time length. Generating the loading task for the machine in advance can provide more ample time for the subsequent docking and loading of the machine and the transport vehicle; secondly, in response to the loading task of the machine, the target transport vehicle is controlled to travel to the channel area in front of the machine; after the target transport vehicle arrives at the channel area in front of the machine, a second time length is obtained, and according to the second time length, it is determined whether the transport vehicle needs to wait; if so, it means that at this time the target transport vehicle and the machine cannot be docked for loading. Since the loading task is generated in advance, the target transport vehicle and the machine have sufficient time for docking, and therefore the target transport vehicle is controlled to maintain a waiting posture at present; when it is determined that the transport vehicle does not need to wait, that is, it means that at this time the target transport vehicle and the machine can be docked for loading, the target transport vehicle is controlled to adjust the docking posture to dock with the machine, and load the material after the docking is completed.

[0221] The embodiment of the present application provides more ample time margin for the subsequent docking and loading of the target transport vehicle and the machine by generating the loading task of the machine in advance, so that the target transport vehicle can maintain a waiting posture when it is temporarily unable to dock and load materials, thereby realizing the waiting and avoidance of the transport vehicle in ample time. In addition, since the long side direction of the target transport vehicle is parallel to the traffic direction of the channel area when maintaining the waiting posture, the long side direction is perpendicular to the traffic direction of the channel area only when the target transport vehicle is in the docking posture, thereby avoiding as much as possible the traffic obstruction that the transport vehicle may cause to the docking and loading or normal passage of other transport vehicles when waiting for avoidance and docking and loading, thereby improving the operation efficiency of the transport vehicle. At the same time, when it is determined that docking and loading are possible, docking and loading with the machine are carried out in time, further improving the overall scheduling efficiency of the transport vehicle and the overall efficiency of material transportation.

[0222] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area, thereby improving the transport vehicle's travel convenience and the transport vehicle's scheduling efficiency.

[0223] In one embodiment of the present application,

[0224] The robot control server is specifically used to respond to the loading task of the machine and determine the target material type of the material required by the machine; obtain the loading point of the transport vehicle of the target material type and obtain the loading point of the target transport vehicle; among each idle transport vehicle, select the transport vehicle closest to the loading point of the target transport vehicle to obtain the target transport vehicle; control the target transport vehicle to travel to the loading point of the target transport vehicle for loading, and control the target transport vehicle that has completed loading to travel to the passage area in front of the machine.

[0225] As can be seen from the above, in the transport vehicle scheduling system provided by the embodiment of the present application, when the robot control server responds to a loading task, it first determines the target material type required by the machine, and then selects the transport vehicle that is closest to the target transport vehicle loading point corresponding to the target material type as the target transport vehicle for loading and transportation, thereby reducing the transport distance of the transport vehicle as much as possible and further improving the efficiency of loading, transporting, and loading the transport vehicle.

[0226] In one embodiment of the present application, the second duration is the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine;

[0227] The robot control server is specifically used to determine whether the second time duration is greater than the sum of the docking posture adjustment time duration of the target transport vehicle and the transport vehicle loading time duration, wherein the docking posture adjustment time duration is the time duration required for the target transport vehicle to adjust from a posture parallel to the travel direction in the long side direction to a docking posture for docking with the machine after the target transport vehicle arrives at the passage area in front of the machine.

[0228] As can be seen from the above, the transport vehicle scheduling system provided in the embodiment of the present application, after the target transport vehicle arrives at the channel area in front of the machine, also determines whether loading is currently needed again based on the usage time of the remaining materials in the machine, thereby avoiding the situation where the target transport vehicle is docked for loading when the amount of remaining materials in the machine is relatively abundant, thereby improving the accuracy of docking and loading between the target transport vehicle and the machine, and further improving the overall efficiency of material transportation.

[0229] In one embodiment of the present application,

[0230] The second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle;

[0231] The robot control server is specifically used to determine whether there are other transport vehicles passing through the channel area in front of the machine within the second time period; if so, the target transport vehicle is controlled to maintain a waiting posture, and after waiting for the other transport vehicles to pass through the channel area in front of the machine, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing the docking with the machine.

[0232] As can be seen from the above, the transport vehicle scheduling system provided by the embodiment of the present application provides more ample time margin for the docking and loading of the subsequent target transport vehicle and the machine by generating the loading task of the machine in advance, so that the target transport vehicle can carry out docking and loading after waiting for other transport vehicles that may be blocked from passing, thereby realizing avoidance between transport vehicles, thereby avoiding as much as possible the obstruction of the normal passage of other transport vehicles caused by docking and loading, improving the operation and scheduling efficiency of the transport vehicle, and at the same time, it can also carry out docking and loading in time when it is determined that it will not cause obstruction to the passage of other transport vehicles, further improving the overall operation efficiency of the transport vehicle and the overall efficiency of material transportation.

[0233] In one embodiment of the present application,

[0234] The robot control server is specifically used to obtain the current position information and transportation path information of each transport vehicle in the scene; determine the first-class transport vehicles that will pass through the channel area in front of the machine in the future according to the current position and transportation path information of each of the transport vehicles; determine the predicted driving time required for each of the first-class transport vehicles to travel to the channel area in front of the machine according to the current position and transportation path information of each of the first-class transport vehicles; when there is a predicted driving time less than the second time length, determine that other transport vehicles pass through the channel area in front of the machine within the second time length, wherein the other transport vehicles are first-class transport vehicles with a predicted driving time less than the second time length; when there is no predicted driving time less than the second time length, determine that no other transport vehicles pass through the channel area in front of the machine within the second time length.

[0235] As can be seen from the above, in the transport vehicle scheduling system provided in the embodiment of the present application, when the robot control server determines whether other transport vehicles pass through the channel area in front of the machine within the second time period, it determines whether other transport vehicles will pass through the channel area in front of the machine within the second time period based on the location information of the current location of each transport vehicle in the scene and the path information of the transportation being carried out by each transport vehicle. This makes the judgment result more rigorous and has practical operability. The subsequent operation of the target transport vehicle is determined based on this judgment result, which can further improve the overall operation efficiency of the transport vehicle.

[0236] In one embodiment of the present application,

[0237] Before executing the step of determining whether other transport vehicles have passed through the passage area in front of the machine within the second time period, the robot control server is also used to: determine whether the materials of the machine have been used up; if the materials of the machine have been used up, control the target transport vehicle to adjust to a docking posture, and load the materials after completing the docking with the machine; wherein, if the materials of the machine have not been used up, trigger the execution step of determining whether other transport vehicles have passed through the passage area in front of the machine within the second time period.

[0238] As can be seen from the above, in the transport vehicle scheduling system provided by the embodiment of the present application, if the materials of the machine have been used up, the current docking and loading is more important than avoiding blocking other transport vehicles, and the target transport vehicle is directly controlled to dock and load materials with the machine. If the materials of the machine have not been used up, it is considered to avoid blocking other transport vehicles as much as possible, so as to improve the overall efficiency of material transportation.

[0239] In one embodiment of the present application, Figure 8 As shown, a structural schematic diagram of a first transport vehicle scheduling device is provided, including:

[0240] The first task generating module 801 is used to generate a material loading task for the machine when the remaining material usage time of the machine is a first time length;

[0241] The first transport vehicle control module 802 is used to control the target transport vehicle to travel to the passage area in front of the machine in response to the material loading task of the machine;

[0242] The duration acquisition module 803 is used to acquire a second duration after the target transport vehicle arrives at the channel area in front of the machine, wherein the first duration is greater than the second duration;

[0243] An area determination module 804 is used to determine whether the target transport vehicle needs to wait according to the second time period;

[0244] The first waiting posture maintaining module 805 is used to control the target transport vehicle to maintain a waiting posture if yes;

[0245] The first loading module 806 is used to control the target transport vehicle to adjust to the docking posture if not, and to load the material after completing the docking with the machine; wherein, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in the docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0246] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application first generates a loading task for the machine when the remaining material usage time of the machine is the first time length. Generating the loading task of the machine in advance can provide more ample time for the subsequent docking and loading of the machine and the transport vehicle; secondly, in response to the loading task of the machine, the target transport vehicle is controlled to travel to the channel area in front of the machine; after the target transport vehicle arrives at the channel area in front of the machine, a second time length is obtained, and according to the second time length, it is determined whether the transport vehicle needs to wait; if so, it means that at this time the target transport vehicle and the machine cannot be docked for loading. Since the loading task is generated in advance, the target transport vehicle and the machine have sufficient time for docking, and therefore the target transport vehicle is controlled to maintain a waiting posture at present; when it is determined that the transport vehicle does not need to wait, that is, it means that at this time the target transport vehicle and the machine can be docked for loading, the target transport vehicle is controlled to adjust the docking posture to dock with the machine, and load the material after the docking is completed.

[0247] The embodiment of the present application provides more ample time margin for the subsequent docking and loading of the target transport vehicle and the machine by generating the loading task of the machine in advance, so that the target transport vehicle can maintain a waiting posture when it is temporarily unable to dock and load materials, thereby realizing the waiting and avoidance of the transport vehicle in ample time. In addition, since the long side direction of the target transport vehicle is parallel to the traffic direction of the channel area when maintaining the waiting posture, the long side direction is perpendicular to the traffic direction of the channel area only when the target transport vehicle is in the docking posture, thereby avoiding as much as possible the traffic obstruction that the transport vehicle may cause to the docking and loading or normal passage of other transport vehicles when waiting for avoidance and docking and loading, thereby improving the operation efficiency of the transport vehicle. At the same time, when it is determined that docking and loading are possible, docking and loading with the machine are carried out in time, further improving the overall scheduling efficiency of the transport vehicle and the overall efficiency of material transportation.

[0248] In one embodiment of the present application, the second duration is the remaining material usage time of the machine after the target transport vehicle arrives at the passage area in front of the machine;

[0249] The area determination module 804 is specifically used for:

[0250] Determine whether the second time duration is greater than the sum of the docking posture adjustment time of the target transport vehicle and the loading time of the transport vehicle, wherein the docking posture adjustment time duration is the time required for the target transport vehicle to adjust from a posture parallel to the long side direction and the passing direction to a docking posture docking with the machine after arriving at the passage area in front of the machine.

[0251] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application, after the target transport vehicle arrives at the passage area in front of the machine, also determines whether loading is currently needed again based on the usage time of the remaining materials in the machine, thereby avoiding the situation where the target transport vehicle is docked for loading when the amount of remaining materials in the machine is relatively abundant, thereby improving the accuracy of docking and loading between the target transport vehicle and the machine, and further improving the overall efficiency of material transportation.

[0252] In one embodiment of the present application, the second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle;

[0253] The area determination module 804 includes: an area determination submodule, which is used to determine whether other transport vehicles pass through the passage area in front of the machine within the second time period;

[0254] The device also includes:

[0255] The second loading module is used to control the target transport vehicle to adjust to a docking posture after waiting for the other transport vehicle to pass through the passage area in front of the machine, and to load materials after completing the docking with the machine.

[0256] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application provides more ample time margin for the docking and loading of the subsequent target transport vehicle and the machine by generating the loading task of the machine in advance, so that the target transport vehicle can carry out docking and loading after waiting for other transport vehicles that may be blocked from passing, thereby realizing avoidance between transport vehicles, thereby avoiding as much as possible the obstruction of the normal passage of other transport vehicles caused by docking and loading, improving the operation and scheduling efficiency of the transport vehicle, and at the same time, it can also carry out docking and loading in time when it is determined that it will not cause obstruction to the passage of other transport vehicles, further improving the overall operation efficiency of the transport vehicle and the overall efficiency of material transportation.

[0257] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0258] In one embodiment of the present application, the first transport vehicle control module 802 is specifically used to:

[0259] In response to the material loading task of the machine, determining the target material type of the material required by the machine;

[0260] Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0261] Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0262] The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle after loading is controlled to travel to the passage area in front of the machine.

[0263] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application, when responding to a loading task, first determines the target material type required by the machine, and then selects the transport vehicle that is closest to the target transport vehicle loading point corresponding to the target material type as the target transport vehicle to carry out loading and transportation, thereby reducing the transport distance of the transport vehicle as much as possible and further improving the efficiency of loading, transportation, and loading of the transport vehicle.

[0264] In one embodiment of the present application, the region determination submodule is specifically used to:

[0265] Obtaining the current location information and transportation path information of each transport vehicle in the scene;

[0266] Determine, based on the current position and transport path information of each of the transport vehicles, a first type of transport vehicle that will pass through the passage area in front of the machine in the future;

[0267] Determine the predicted travel time required for each of the first-type transport vehicles to travel to the passage area in front of the machine according to the current position and transport path information of each of the first-type transport vehicles;

[0268] When there is a predicted travel time shorter than the second time, determining that another transport vehicle passes through the passage area in front of the machine within the second time, wherein the other transport vehicle is a first-category transport vehicle whose predicted travel time is shorter than the second time;

[0269] When there is no predicted travel time shorter than the second time, it is determined that no other transport vehicle passes through the passage area in front of the machine within the second time.

[0270] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application, when judging whether other transport vehicles pass through the passage area in front of the machine within the second time period, judges whether other transport vehicles will pass through the passage area in front of the machine within the second time period based on the location information of the current location of each transport vehicle in the scene and the path information of the transportation being carried out by each transport vehicle. This makes the judgment result more rigorous and practical. The subsequent operation of the target transport vehicle is determined based on this judgment result, which can further improve the overall operation efficiency of the transport vehicle.

[0271] In one embodiment of the present application, the device further includes:

[0272] A material usage judgment module is used to judge whether the material of the machine has been used up;

[0273] The third loading module is used to control the target transport vehicle to adjust to a docking posture if the material of the machine is used up, and to load the material after completing the docking with the machine; wherein, if the material of the machine is not used up, the execution step is triggered: determining whether there are other transport vehicles passing through the passage area in front of the machine within the second time length.

[0274] As can be seen from the above, in the transport vehicle scheduling device provided by the embodiment of the present application, if the materials of the machine have been used up, the current docking and loading is more important than avoiding blocking other transport vehicles, and the target transport vehicle is directly controlled to dock and load materials with the machine. If the materials of the machine have not been used up, it is considered to avoid blocking other transport vehicles as much as possible, so as to improve the overall efficiency of material transportation.

[0275] like Fig. 9 As shown, the embodiment of the present application also provides a structural schematic diagram of a second transport vehicle scheduling device, including:

[0276] The second task generating module 901 is used to generate a material loading task for the machine when the remaining material usage time of the machine is the first time length;

[0277] The second transport vehicle control module 902 is used to control the target transport vehicle to travel to the passage area in front of the machine in response to the material loading task of the machine;

[0278] A second waiting posture maintaining module 903, used to control the target transport vehicle to maintain a waiting posture after the target transport vehicle arrives at the passage area in front of the machine;

[0279] The fourth loading module 904 is used to control the target transport vehicle to adjust to the docking posture after the material of the machine is used up, and to load the material after completing the docking with the machine; wherein, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in the docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

[0280] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application always keeps the target transport vehicle in a waiting posture before the materials of the machine are used up, so as to avoid obstructing the passage of other transport vehicles and causing inconvenience to the overall material transportation, thereby improving the efficiency of transport vehicle scheduling and the overall efficiency of material transportation. At the same time, there is no need to judge the use time of the remaining materials of the machine, and it is only necessary to wait for the materials of the machine to be used up, and then control the target transport vehicle to adjust to the docking posture, and load the materials after completing the docking with the machine, which reduces the steps required for calculating the scheduling target transport vehicle, reduces the complexity of the transport vehicle scheduling scheme, and improves the feasibility of the transport vehicle scheduling method.

[0281] In one embodiment of the present application, the long side length of the target transport vehicle is greater than half the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

[0282] This will improve the convenience of transport vehicles and the dispatch efficiency of transport vehicles.

[0283] In one embodiment of the present application, the second transport vehicle control module 902 is specifically used to:

[0284] In response to the material loading task of the machine, determine the target material type of the material required by the machine;

[0285] Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle;

[0286] Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle;

[0287] The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle that has completed loading is controlled to travel to the passage area in front of the machine.

[0288] As can be seen from the above, the transport vehicle scheduling device provided in the embodiment of the present application, when responding to a loading task, first determines the target material type required by the machine, and then selects the transport vehicle that is closest to the target transport vehicle loading point corresponding to the target material type as the target transport vehicle to carry out loading and transportation, thereby reducing the transport distance of the transport vehicle as much as possible and further improving the efficiency of loading, transportation, and loading of the transport vehicle.

[0289] The present application also provides an electronic device, such as Fig.10 As shown, including:

[0290] Memory 1001, used for storing computer programs;

[0291] The processor 1002 is used to implement any of the above-mentioned transport vehicle scheduling methods when executing the program stored in the memory 1001.

[0292] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1002, the communication interface, and the memory 1001 communicate with each other via the communication bus.

[0293] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0294] The communication interface is used for communication between the above electronic device and other devices.

[0295] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0296] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0297] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned transport vehicle scheduling methods are implemented.

[0298] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the transport vehicle scheduling methods in the above embodiments.

[0299] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), etc.

[0300] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0301] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device and electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0302] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A transport vehicle scheduling method, characterized in that: include: When the remaining material usage time of the machine is the first time length, generating a material loading task for the machine; In response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine; After the target transport vehicle arrives at the channel area in front of the machine, obtaining a second time duration, wherein the first time duration is greater than the second time duration; Determining whether the target transport vehicle needs to wait according to the second time duration; If yes, the target transport vehicle is controlled to maintain a waiting posture; If not, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed; Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

2. The method according to claim 1, characterized in that The second duration is the duration of use of the remaining materials of the machine after the target transport vehicle arrives at the passage area in front of the machine; The step of judging whether the target transport vehicle needs to wait according to the second time period includes: Determine whether the second time duration is greater than the sum of the docking posture adjustment time of the target transport vehicle and the loading time of the transport vehicle, wherein the docking posture adjustment time duration is the time required for the target transport vehicle to adjust from a posture parallel to the long side direction and the passing direction to a docking posture docking with the machine after arriving at the passage area in front of the machine.

3. The method according to claim 1, characterized in that The second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle; The determining whether the target transport vehicle needs to wait according to the second time period includes: determining whether other transport vehicles pass through the passage area in front of the machine within the second time period; After the step of controlling the target transport vehicle to maintain a waiting posture, the method further includes: After waiting for the other transport vehicles to pass through the passage area in front of the machine, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing docking with the machine.

4. The method according to claim 1, characterized in that: The long side length of the target transport vehicle is greater than half of the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half of the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

5. The method according to claim 1, characterized in that In response to the loading task of the machine, controlling the target transport vehicle to travel to the passage area in front of the machine includes: In response to the material loading task of the machine, determining the target material type of the material required by the machine; Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle; Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle; The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle after loading is controlled to travel to the passage area in front of the machine.

6. The method according to claim 3, characterized in that The determining whether another transport vehicle passes through the passage area in front of the machine within the second time period includes: Obtaining the current location information and transportation path information of each transport vehicle in the scene; Determine, based on the current position and transport path information of each of the transport vehicles, a first type of transport vehicle that will pass through the passage area in front of the machine in the future; Determine the predicted travel time required for each of the first-type transport vehicles to travel to the passage area in front of the machine according to the current position and transport path information of each of the first-type transport vehicles; When there is a predicted travel time shorter than the second time, determining that another transport vehicle passes through the passage area in front of the machine within the second time, wherein the other transport vehicle is a first-category transport vehicle whose predicted travel time is shorter than the second time; When there is no predicted travel time shorter than the second time, it is determined that no other transport vehicle passes through the passage area in front of the machine within the second time.

7. The method according to claim 3, characterized in that Before the step of determining whether other transport vehicles pass through the passage area in front of the machine within the second time period, the method further includes: Determine whether the material of the machine has been used up; If the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed; If the material of the machine has not been used up, the execution step is triggered: determining whether other transport vehicles pass through the passage area in front of the machine within the second time period.

8. A method for dispatching a transport vehicle, characterized in that: include: When the remaining material usage time of the machine is the first time length, generating a material loading task for the machine; In response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine; After the target transport vehicle arrives at the passage area in front of the machine, controlling the target transport vehicle to maintain a waiting posture; After the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed; Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

9. The method according to claim 8, characterized in that The long side length of the target transport vehicle is greater than half of the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half of the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

10. The method according to claim 8, characterized in that In response to the loading task of the machine, controlling the target transport vehicle to travel to the passage area in front of the machine includes: In response to the material loading task of the machine, determine the target material type of the material required by the machine; Obtain the loading point of the transport vehicle of the target material type to obtain the loading point of the target transport vehicle; Among the idle transport vehicles, the transport vehicle closest to the loading point of the target transport vehicle is selected to obtain the target transport vehicle; The target transport vehicle is controlled to travel to the target transport vehicle loading point for loading, and the target transport vehicle that has completed loading is controlled to travel to the passage area in front of the machine.

11. A transport vehicle dispatching system, characterized in that: include: Material control server, robot control server and transport vehicle, including: The material control server is used to generate a material loading task for the machine when the remaining material usage time of the machine is the first time length; The robot control server is used to control the target transport vehicle to travel to the passage area in front of the machine in response to the loading task of the machine; after the target transport vehicle arrives at the passage area in front of the machine, obtain a second time length, wherein the first time length is greater than the second time length; determine whether the target transport vehicle needs to wait according to the second time length; if so, control the target transport vehicle to maintain a waiting posture; if not, control the target transport vehicle to adjust to a docking posture, and load the material after completing the docking with the machine; Or, in response to the material loading task of the machine, the target transport vehicle is controlled to travel to the passage area in front of the machine; after the target transport vehicle arrives at the passage area in front of the machine, the target transport vehicle is controlled to maintain a waiting posture; after the material of the machine is used up, the target transport vehicle is controlled to adjust to a docking posture, and the material is loaded after the docking with the machine is completed; Among them, when the target transport vehicle maintains a waiting posture, the long side direction of the target transport vehicle is parallel to the travel direction of the passage area; when the target transport vehicle is in a docking posture, the long side direction of the target transport vehicle is perpendicular to the travel direction of the passage area.

12. The system according to claim 11, characterized in that The long side length of the target transport vehicle is greater than half of the width of the channel area in front of the machine, the short side length of the target transport vehicle is less than half of the width of the channel area, and the long side length of the target transport vehicle is less than the width of the channel area.

13. The system according to claim 11, characterized in that The robot control server is specifically used to respond to the loading task of the machine, determine the target material type of the material required by the machine; obtain the loading point of the transport vehicle of the target material type, and obtain the loading point of the target transport vehicle; among each idle transport vehicle, select the transport vehicle closest to the loading point of the target transport vehicle to obtain the target transport vehicle; control the target transport vehicle to travel to the loading point of the target transport vehicle for loading, and control the target transport vehicle that has completed loading to travel to the passage area in front of the machine.

14. The system according to claim 11, characterized in that The second duration is the duration of use of the remaining materials of the machine after the target transport vehicle arrives at the passage area in front of the machine; The robot control server is specifically used to determine whether the second time duration is greater than the sum of the docking posture adjustment time duration of the target transport vehicle and the transport vehicle loading time duration, wherein the docking posture adjustment time duration is the time duration required for the target transport vehicle to adjust from a posture parallel to the travel direction in the long side direction to a docking posture for docking with the machine after the target transport vehicle arrives at the passage area in front of the machine.

15. The system according to claim 11, characterized in that The second duration is the sum of the docking posture adjustment duration of the target transport vehicle and the loading duration of the transport vehicle; The robot control server is specifically used to determine whether there are other transport vehicles passing through the passage area in front of the machine within the second time period; if so, the target transport vehicle is controlled to maintain a waiting posture, and after waiting for the other transport vehicles to pass through the passage area in front of the machine, the target transport vehicle is controlled to adjust to a docking posture, and loading is performed after completing the docking with the machine.

16. The system according to claim 15, characterized in that The robot control server is specifically used to obtain the current position information and transportation path information of each transport vehicle in the scene; determine the first-class transport vehicles that will pass through the passage area in front of the machine in the future according to the current position and transportation path information of each transport vehicle; and determine the predicted driving time required for each first-class transport vehicle to travel to the passage area in front of the machine according to the current position and transportation path information of each first-class transport vehicle; When there is a predicted driving time shorter than the second time length, it is determined that other transport vehicles pass through the passage area in front of the machine within the second time length, wherein the other transport vehicles are first-class transport vehicles with predicted driving times shorter than the second time length; when there is no predicted driving time shorter than the second time length, it is determined that no other transport vehicles pass through the passage area in front of the machine within the second time length.

17. The system according to claim 15, characterized in that Before executing the step of determining whether other transport vehicles have passed through the passage area in front of the machine within the second time period, the robot control server is also used to: determine whether the materials of the machine have been used up; if the materials of the machine have been used up, control the target transport vehicle to adjust to a docking posture, and load the materials after completing the docking with the machine; wherein, if the materials of the machine have not been used up, trigger the execution step of determining whether other transport vehicles have passed through the passage area in front of the machine within the second time period.

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