Method, device and equipment for grouping unmanned mechanical vehicles and medium

Abstract

The invention discloses an unmanned mechanical vehicle grouping method, device and equipment and a medium. The method comprises the following steps: after receiving at least one task processing request, respectively sending each task processing request to a mechanical slave vehicle of which the vehicle model is matched with a target vehicle model; receiving team forming applications sent by each mechanical slave vehicle, and aggregating the team forming applications with the same task code after waiting for a preset time period to obtain each target application set; respectively calculating the working efficiency of the main vehicle applied by each target; and selecting the target application with the maximum working efficiency value of the master vehicle from each target application set as an intention application matched with the target application set, generating a connection request matched with the intention application, and sending the connection request to the target mechanical slave vehicle. Through the technical scheme of the invention, the team forming operation of the mechanical slave vehicle and the mechanical master vehicle in the unmanned mechanical vehicle team can be realized, the team forming efficiency of the unmanned mechanical vehicle is improved, and the working efficiency of the unmanned mechanical vehicle is further improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned mechanical vehicles, and in particular to a method, device, equipment and medium for forming a team of unmanned mechanical vehicles. Background Art

[0002] In today's society, the continuous rise in labor costs and the rapid development of unmanned driving technology have prompted unmanned mechanical vehicles to be widely used in various scenarios in many fields such as mining, construction, port freight and agricultural production, especially in high-risk closed scenarios. These unmanned machines can undertake tasks with high repetitiveness and high risk factors, which not only effectively improves work efficiency, but also significantly reduces the risk of possible injury to personnel. However, a single unmanned machine often has great limitations in terms of operating capabilities and operating scope, resulting in relatively low operating efficiency. The emergence of unmanned mechanical vehicle teamwork provides a new way to solve this problem. It can not only undertake more complex unmanned operation tasks, but also achieve significant improvements in operating efficiency and quality.

[0003] Although the application of unmanned mechanical vehicles is showing an increasing trend, the current unmanned mechanical operation coordination mode mostly relies on a single unmanned machine to interact with the cloud computing center in real time with the help of mobile communication networks such as 4G / 5G. The cloud computing center is responsible for the decomposition of work tasks, the teaming of multiple types of engineering machinery, and work coordination. However, in the actual complex operation environment of unmanned mechanical vehicles, the deployment of mobile communication network base stations such as 4G / 5G is often limited by conditions, and its signals are easily interfered, resulting in unstable communication and uncontrollable communication delay, which has a great adverse effect on the teaming and collaborative operation efficiency of unmanned machinery. In addition, the processing and decision-making of a large number of teaming tasks usually consumes a lot of computing resources, which will undoubtedly significantly increase the computing power load of the cloud computing center. At the same time, when there is no operation task, the domain controller of the unmanned mechanical vehicle has a large amount of idle computing power, resulting in a serious waste of computing power. Finally, the unified issuance of teaming tasks, information collection and processing, and teaming decision-making through the cloud computing center are often difficult to have good environmental adaptability and flexibility under the condition that the unmanned mechanical vehicle operation environment is restricted, and cannot meet the diverse needs in actual operations.

[0004] In summary, the existing unmanned mechanical vehicle teaming method has the problem of low vehicle teaming efficiency, which in turn leads to low working efficiency of the unmanned mechanical vehicles. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for forming a team of unmanned mechanical vehicles, which can solve the problem of low vehicle teaming efficiency in the existing method for forming a team of unmanned mechanical vehicles, thereby causing low working efficiency of the unmanned mechanical vehicles.

[0006] In a first aspect, an embodiment of the present invention provides a method for forming a team of unmanned mechanical vehicles, which is performed by a mechanical master vehicle that pre-stores the vehicle models of each mechanical slave vehicle, and the method includes:

[0007] After receiving at least one task processing request, sending each task processing request to a mechanical slave vehicle whose vehicle model matches the target vehicle model based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request;

[0008] Receive teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregate teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set;

[0009] Calculate the main vehicle working efficiency of each target application through the preset main vehicle efficiency formula;

[0010] In each target application set, the target application with the largest working efficiency value of the main vehicle is selected as the intended application matching the target application set, a connection request matching the intended application is generated and sent to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

[0011] In a second aspect, an embodiment of the present invention provides a method for forming a team of unmanned mechanical vehicles, which is performed by a mechanical slave vehicle, and the method includes:

[0012] In response to receiving at least one task processing request, determining whether the current state of the mechanical slave vehicle is idle;

[0013] After determining that the current state is idle, the slave vehicle working efficiency that matches each task processing request is calculated using a preset slave vehicle efficiency formula;

[0014] Select the task processing request with the largest working efficiency value of the slave vehicle as the target processing request, generate a teaming application matching the target processing request and send it to the mechanical master vehicle;

[0015] Teaming with the mechanical main vehicle is performed in response to the received connection request.

[0016] In a third aspect, an embodiment of the present invention provides a teaming device for unmanned mechanical vehicles, which is executed by a mechanical master vehicle that pre-stores the vehicle models of each mechanical slave vehicle, and the device includes:

[0017] A task request sending module is used to send each task processing request to a mechanical slave vehicle whose vehicle model matches the target vehicle model after receiving at least one task processing request, based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request;

[0018] The aggregation module is used to receive the teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregate the teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set;

[0019] The main vehicle efficiency calculation module is used to calculate the main vehicle working efficiency of each target application respectively through a preset main vehicle efficiency formula;

[0020] A connection request sending module is used to select the target application with the largest main vehicle working efficiency value in each target application set as the intended application matching the target application set, generate a connection request matching the intended application and send it to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

[0021] In a fourth aspect, an embodiment of the present invention provides a teaming device for unmanned mechanical vehicles, which is executed by a mechanical slave vehicle, and the device includes:

[0022] a state determination module, configured to determine whether the current state of the mechanical slave vehicle is idle in response to a receiving operation of at least one task processing request;

[0023] A slave vehicle efficiency calculation module is used to determine that the current state is idle, and then calculate the slave vehicle working efficiency that matches each task processing request through a preset slave vehicle efficiency formula;

[0024] A team application generation module is used to select the task processing request with the largest working efficiency value of the slave vehicle as the target processing request, generate a team application matching the target processing request, and send it to the mechanical master vehicle;

[0025] The teaming module is used to team up with the mechanical main vehicle in response to the received connection request.

[0026] In a fifth aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0027] at least one processor; and

[0028] a memory communicatively connected to the at least one processor; wherein,

[0029] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a method for forming a team of unmanned mechanical vehicles as described in any embodiment of the present invention.

[0030] In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a method for forming a team of unmanned mechanical vehicles as described in any embodiment of the present invention when executed.

[0031] The technical solution of the embodiment of the present invention is, on the one hand, through a mechanical master vehicle that pre-stores the vehicle model of each mechanical slave vehicle, after receiving at least one task processing request, based on the target vehicle model contained in each task processing request, each task processing request is sent to the mechanical slave vehicle whose vehicle model matches the target vehicle model, and then the teaming application sent by each mechanical slave vehicle is received, and after waiting for a preset time period, the teaming applications with the same task code are aggregated through the task code contained in each teaming application to obtain each target application set, and then the main vehicle working efficiency of each target application is calculated respectively through a preset main vehicle efficiency formula, and the target application with the largest main vehicle working efficiency value is selected from each target application set as the intended application matching the target application set, and a connection request matching the intended application is generated and sent to the target mechanical slave vehicle matching the intended application. Slave vehicle; on the other hand, through the mechanical slave vehicle responding to the receiving operation of at least one task processing request, it is determined whether the current state of the mechanical slave vehicle is idle, and after determining that the current state is idle, the slave vehicle work efficiency matching each task processing request is calculated by the preset slave vehicle efficiency formula, and then the task processing request with the largest slave vehicle work efficiency value is selected as the target processing request, and a teaming application matching the target processing request is generated and sent to the mechanical main vehicle, and finally, in response to the received connection request, a team is formed with the mechanical main vehicle, which solves the problem of low vehicle teaming efficiency in the existing unmanned mechanical vehicle teaming method, which leads to low working efficiency of the unmanned mechanical vehicle, and realizes the teaming operation of mechanical slave vehicles and mechanical main vehicles in the unmanned mechanical vehicle fleet, improves the teaming efficiency of the unmanned mechanical vehicles, and thus improves the working efficiency of the unmanned mechanical vehicles.

[0032] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 is a flow chart of a method for forming a team of unmanned mechanical vehicles provided according to Embodiment 1 of the present invention;

[0035] Figure 2 is a flow chart of a method for forming a team of unmanned mechanical vehicles provided according to a second embodiment of the present invention;

[0036] Figure 3 is a schematic structural diagram of an unmanned mechanical vehicle teaming device provided according to Embodiment 3 of the present invention;

[0037] Figure 4 is a schematic structural diagram of an unmanned mechanical vehicle teaming device provided according to a fourth embodiment of the present invention;

[0038] Figure 5 It is a structural schematic diagram of an electronic device for implementing a method for forming a team of unmanned mechanical vehicles according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, any variation of the terms "including" and "having" is intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] Embodiment 1

[0042] Figure 1 A flow chart of a method for forming a team of unmanned mechanical vehicles provided in Example 1 of the present invention. This embodiment is applicable to the situation where vehicles in an unmanned mechanical vehicle fleet are formed into a team. The method can be executed by an unmanned mechanical vehicle teaming device. The unmanned mechanical vehicle teaming device can be implemented in the form of hardware and / or software. The unmanned mechanical vehicle teaming device can be configured in a mechanical master vehicle in the unmanned mechanical vehicle fleet that pre-stores the vehicle models of various mechanical slave vehicles.

[0043] like Figure 1 As shown, the method includes:

[0044] S110. After receiving at least one task processing request, each task processing request is sent to a mechanical slave vehicle whose vehicle model matches the target vehicle model based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request.

[0045] The target vehicle model refers to a pre-set vehicle model identifier with specific performance and configuration requirements for performing specific tasks. For example, in a mining transportation task, the target vehicle model may be a specific model of dump truck with strong load capacity and adaptability to rugged road conditions; in agricultural seeding operations, the target vehicle model may be a specific model of seed drill with precise seeding control and suitable for farmland walking.

[0046] It should be noted that in the present application, the selection of the mechanical main vehicle in the mechanical fleet can be manually specified according to the attributes of the mechanical vehicle, or it can be selected by the cloud computing center according to the attributes of each mechanical vehicle. It is usually an unmanned mechanical vehicle with the highest importance of work tasks or the strongest AI computing capability in a certain collaborative work task. The unmanned mechanical main vehicle receives a pre-configured team work task list issued by the cloud computing center through communication methods such as 4G / 5G mobile communication network, MESH radio or V2X network. The work task list includes: multiple work tasks, work task corresponding machine model configuration requirements, etc. The work task list is split into at least one task processing request by table lookup, and then the task processing request is continuously broadcast to the mechanical slave vehicles of the corresponding model within the communication range through M2M communication methods such as MESH radio or V2X network to request collaborative work teaming.

[0047] In this embodiment, the task processing request is broadcasted through M2M communication methods such as MESH radio or V2X network, which can maintain stable and reliable communication even in complex environments. At the same time, it also reduces the number of information exchanges between each unmanned mechanical vehicle and the cloud computing center under unreliable communication conditions, thereby improving the efficiency of vehicle teaming.

[0048] In a specific implementation scenario of this embodiment, the mechanical main vehicle may include an M2M communication terminal, an unmanned driving domain controller, a vehicle driving controller and a vehicle operation controller; wherein the M2M communication terminal can complete wireless communication functions such as GNSS positioning, 4G / 5G mobile communication, MESH networking or V2X communication, and can also obtain interaction information of other unmanned mechanical vehicles within the communication range through a GNSS receiver, MESH networking or V2X communication unit, and communicate with a cloud computing center and other engineering machinery in real time through 4G / 5G mobile communication, MESH networking or V2X communication; further, the unmanned driving domain controller usually has environmental perception, route planning, driving control decision-making, operation control decision-making and other information calculations of unmanned mechanical vehicles. With processing capabilities, it can obtain the real-time status of the working environment within the effective range of the perception sensors installed on the unmanned mechanical vehicle, the work site and the surrounding map information, so as to carry out real-time planning of the work route and travel time prediction, make driving control decisions and work control decisions according to the work requirements, and send the decision instructions to the vehicle driving controller and the vehicle work controller through the vehicle CAN, FleRay or RS232 and other communication buses; further, the vehicle driving controller receives the driving control decision instructions of the unmanned driving domain controller, and controls the throttle, brake, steering, gear and brake and other electronic controllers to perform driving control tasks; further, the vehicle work controller receives the work control decision instructions of the unmanned driving domain controller, and controls the mechanical working units such as the machine arm, bucket, hydraulic cylinder, and steel wheel to perform work control tasks.

[0049] S120, receiving teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregating teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set.

[0050] The team application includes: task code, operation duration, task priority, operation preparation time, waiting time and vehicle cost coefficient.

[0051] The time period refers to a specific time period set to ensure that sufficient and comprehensive team application information can be collected. For example, in some complex engineering operation scenarios, this time period may be set to 10 minutes; while in some relatively simple and fast operation scenarios, the time period may be shortened to 5 minutes.

[0052] Furthermore, in the present embodiment, the operation duration is the estimated working duration in the operation task information broadcast by the mechanical master vehicle and received by the mechanical slave vehicle. During this working duration, the mechanical slave vehicle is usually required to be on standby and work collaboratively in the task processing request work area at all times; further, the task priority is the priority coefficient of the task processing request, which is usually a constant ≥1, and is used to adjust the slave vehicle to give priority to high-priority work tasks; further, the operation preparation time, that is, the time required for the mechanical slave vehicle to reach the work area, is usually the estimated driving time after the mechanical slave vehicle's intelligent driving domain controller plans the driving route based on the current positioning of the mechanical slave vehicle and the positioning information of the work area. duration; further, the waiting time is the idle waiting time that will be generated if the mechanical slave vehicle accepts the corresponding task processing request. Under normal circumstances, the waiting time = the corresponding task processing request work start time - the current time - the work preparation time; further, the vehicle cost coefficient is the normalized constant of the unit time cost generated by the work of different mechanical slave vehicles. The vehicle cost coefficient of the same model is different according to the ratio of the operating efficiency and energy consumption of the vehicle model and is usually a constant greater than 1. It is used to adjust the mechanical main vehicle to give priority to the vehicle model with low unit time vehicle cost. It is obtained from the vehicle information fed back by different slave vehicles and is positively correlated with the ratio of the operating efficiency and energy consumption of the construction machinery.

[0053] It should be noted that the operation duration, task priority, operation preparation time, waiting time and vehicle cost coefficient are all calculated by relevant staff or cloud computing platforms according to the actual construction scenario and pre-configured in the task processing request, and broadcast to the corresponding unmanned mechanical slave vehicles through the unmanned mechanical master vehicle. This embodiment does not limit the specific values.

[0054] S130, respectively calculating the main vehicle working efficiency of each target application by using a preset main vehicle efficiency formula.

[0055] Among them, the main vehicle work efficiency of each target application is calculated respectively by a preset main vehicle efficiency formula, including: by the formula: main vehicle work efficiency = (operation time × task priority) / [(operation time + waiting time + operation preparation time) × vehicle cost coefficient], and each target application is calculated to obtain the main vehicle work efficiency that matches each target application.

[0056] S140. Select the target application with the largest working efficiency value of the main vehicle in each target application set as the intended application matching the target application set, generate a connection request matching the intended application and send it to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

[0057] Specifically, in each target application set, a careful screening will be carried out to select the target application with the largest working efficiency value of the main vehicle, and it will be determined as the intended application matching the target application set; it should be noted that the "main vehicle working efficiency value" reflects the comprehensive efficiency and benefit performance of the main vehicle when completing a specific task. The larger the value, the better the expected effect of the main vehicle in the task. Subsequently, a connection request adapted to the intended application will be generated. The so-called "connection request" is a kind of instruction information for establishing communication and collaborative relationships, which contains the key parameters and instructions required for team formation. Finally, this connection request is sent to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle can respond to this request after receiving the connection request and smoothly team up with the mechanical main vehicle. For example, in the scenario of logistics transportation, the intended application with the highest transportation efficiency may be selected from multiple target application sets, and then a connection request is sent to the corresponding transport vehicle, so that it can quickly form an efficient transportation team with the main vehicle to jointly complete the logistics distribution task.

[0058] The technical solution of the embodiment of the present invention is that after a mechanical master vehicle that pre-stores the vehicle model of each mechanical slave vehicle receives at least one task processing request, it sends each task processing request to the mechanical slave vehicle whose vehicle model matches the target vehicle model based on the target vehicle model contained in each task processing request, then receives the teaming application sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregates the teaming applications with the same task code through the task code contained in each teaming application to obtain each target application set, then calculates the main vehicle working efficiency of each target application through a preset main vehicle efficiency formula, and selects the target application with the largest main vehicle working efficiency value in each target application set as the intended application matching the target application set, generates a connection request matching the intended application and sends it to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to team up with the mechanical master vehicle, thereby improving the teaming efficiency of unmanned mechanical vehicles and further improving the working efficiency of unmanned mechanical vehicles.

[0059] Embodiment 2

[0060] Figure 2 A flow chart of a method for forming a team of unmanned mechanical vehicles is provided in the second embodiment of the present invention. This embodiment is applicable to the situation where vehicles in an unmanned mechanical vehicle fleet are formed into a team. The method can be executed by an unmanned mechanical vehicle teaming device. The unmanned mechanical vehicle teaming device can be implemented in the form of hardware and / or software. The unmanned mechanical vehicle teaming device can be configured in a mechanical slave vehicle in an unmanned mechanical vehicle fleet.

[0061] like Figure 2 As shown, the method includes:

[0062] S210: In response to a receiving operation of at least one task processing request, determining whether a current state of the mechanical slave vehicle is idle.

[0063] The task processing request includes: task code, operation duration, task priority, waiting time, waiting penalty coefficient and target area.

[0064] Furthermore, the waiting penalty coefficient, that is, the waiting penalty coefficient of the task processing request, is usually a constant greater than 1, and is used to adjust the slave vehicle to give priority to work tasks with short waiting times. It is calculated by relevant staff or the cloud computing platform according to the actual construction scenario and pre-configured in the task processing request, and broadcast to the corresponding unmanned mechanical slave vehicles through the unmanned mechanical master vehicle. This embodiment does not limit the specific numerical value.

[0065] Optionally, if the current state of the mechanical slave vehicle is not an idle state, a rejection team formation information corresponding to the task processing request is directly sent to the mechanical master vehicle.

[0066] S220 , after determining that the current state is idle, the slave vehicle working efficiency that matches each task processing request is calculated using a preset slave vehicle efficiency formula.

[0067] Among them, the slave vehicle work efficiency matching each task processing request is calculated by a preset slave vehicle efficiency formula, including: positioning the current position, and calculating the time for the mechanical slave vehicle to travel from the current position to the target area of ​​each task processing request according to the regional positioning information, as the job preparation time matching each task processing request; through the formula: slave vehicle work efficiency = (job duration × task priority) / (job duration + waiting time × waiting penalty coefficient + job preparation time), the slave vehicle work efficiency matching each task processing request is calculated respectively.

[0068] Optionally, after forming a team with the mechanical main vehicle in response to the received connection request, it also includes: receiving a task operation command sent by the mechanical main vehicle that matches the target task processing request, and executing the task operation command to complete related operations.

[0069] S230, selecting the task processing request with the largest working efficiency value of the slave vehicle as the target processing request, generating a teaming application matching the target processing request and sending it to the mechanical master vehicle.

[0070] S240: Form a team with the mechanical main vehicle in response to the received connection request.

[0071] The technical solution of the embodiment of the present invention is to determine whether the current state of the mechanical slave vehicle is idle by having the mechanical slave vehicle respond to the receiving operation of at least one task processing request, and after determining that the current state is idle, calculate the slave vehicle work efficiency that matches each task processing request through a preset slave vehicle efficiency formula, and then select the task processing request with the largest slave vehicle work efficiency value as the target processing request, generate a teaming application that matches the target processing request and send it to the mechanical main vehicle, and finally respond to the received connection request to team up with the mechanical main vehicle, thereby solving the problem of low vehicle teaming efficiency in the existing unmanned mechanical vehicle teaming method, which in turn leads to low working efficiency of the unmanned mechanical vehicles, and realizes the teaming operation of mechanical slave vehicles and mechanical main vehicles in the unmanned mechanical vehicle fleet, thereby improving the teaming efficiency of the unmanned mechanical vehicles and thus improving the working efficiency of the unmanned mechanical vehicles.

[0072] Specific implementation scenarios

[0073] In order to more clearly describe the technical solution provided by the embodiment of the present invention, this embodiment briefly introduces a specific implementation scenario obtained according to this embodiment.

[0074] Set within the scope of the closed construction site, the cloud computing center is responsible for planning the unmanned sand mining work near the operation area 1 and the operation area 2. If the configuration of the unmanned mechanical fleet is as follows: unmanned excavator 1, unmanned excavator 2, unmanned mining trucks 1-5, unmanned bulldozer 1 and unmanned bulldozer 2, the actual working status is that unmanned mining truck 5 is busy, and the rest are idle.

[0075] Task 1: Planning the sand mining work near the operation area 1 requires the configuration of 1 unmanned excavator, 1 unmanned truck and 1 unmanned bulldozer. The priority of this task is set to 5, and the estimated operation time is 6 hours.

[0076] Task 2: Planning the sand mining work near the operation area 2 requires the configuration of 1 unmanned excavator, 2 unmanned trucks and 1 unmanned bulldozer. The priority of this task is set to 9, and the estimated operation time is 12 hours.

[0077] Task 1 and Task 2 are scheduled to start at the same time. Since the operation task is mainly to continuously mine sand and soil with an excavator, the excavator is defined as the unmanned mechanical main vehicle in the autonomous team operation. Through the 5G base station network around the construction site, the sand and soil development task lists of the above two areas are sent to unmanned excavator 1 and unmanned excavator 2 as two task processing requests.

[0078] After receiving the sand mining task near the planned operation area 1 and the sand mining task near the planned operation area 2, unmanned excavator 1 and unmanned excavator 2 broadcast the unmanned truck and unmanned bulldozer as well as the corresponding work task information and teaming request through the C-V2X network within the effective communication range. Unmanned bulldozers 1 and 2 and unmanned mining trucks 1-5, as unmanned mechanical slaves, receive teaming invitations from unmanned excavators 1 and 2 respectively through the C-V2X network.

[0079] After accepting the invitation, unmanned bulldozer 1 and unmanned bulldozer 2 prioritized task 2 by evaluating the work efficiency of the two tasks, as the start time and waiting time of the two tasks were the same. They immediately gave feedback to unmanned excavator 2 through the C-V2X network to indicate their agreement to form a team. Unmanned excavator 2 considered that bulldozers 1 and 2 were of the same model and had the same vehicle cost coefficient, while bulldozer 1 had a longer operation preparation time, so it gave priority to bulldozer 2 and fed back team confirmation, rejecting the team request of bulldozer 1.

[0080] Unmanned mining truck 5 ignored the invitation because it was currently busy working and did not meet the operation requirements. After unmanned mining trucks 1-4 accepted the invitation, they evaluated the work efficiency of the two tasks and gave priority to task 2. They immediately gave feedback to unmanned excavator 2 through the C-V2X network to indicate that they agreed to form a team. Unmanned excavator 2 considered that unmanned mining trucks 1-4 were of the same model and had the same vehicle cost coefficient, and that unmanned mining trucks 1 and 2 had a longer operation preparation time, so it gave priority to unmanned mining trucks 3 and 4 and gave feedback to confirm the team formation, rejecting the team formation request of unmanned mining trucks 1 and 2.

[0081] After the team formation of Task 2 is completed, Unmanned Excavator 2 ends the team formation request broadcast of Task 2.

[0082] After receiving the feedback from the unmanned excavator 2 rejecting the team formation, the unmanned bulldozer 1 and the unmanned mining trucks 1 and 2 received the team formation request and work task information continuously broadcast by the unmanned excavator 1. After the unmanned bulldozer 1 accepted the invitation, considering that there was only one work task invitation in the current period, it directly chose to feedback and agreed to the team formation.

[0083] Unmanned Mining Trucks 1 and 2 directly choose to feedback and agree to team formation, considering that there is only one work task invitation in the current period. Unmanned Excavator 1 considers that Unmanned Mining Trucks 1 and 2 have the same vehicle cost coefficient, but Unmanned Mining Truck 1 has a longer operation preparation time, so it gives priority to Unmanned Mining Truck 2 and feedbacks team formation confirmation, rejecting the team formation request of Unmanned Mining Truck 1.

[0084] After the team formation for Task 1 is completed, Unmanned Excavator 1 ends the team formation request broadcast for Task 1, and the entire team formation process ends.

[0085] Embodiment 3

[0086] Figure 3 This is a schematic diagram of the structure of a teaming device for unmanned mechanical vehicles provided in the third embodiment of the present invention. Figure 3 As shown, the device comprises:

[0087] The task request sending module 310 is used to send each task processing request to a mechanical slave vehicle whose vehicle model matches the target vehicle model after receiving at least one task processing request, based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request;

[0088] Aggregation module 320, for receiving teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregating teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set;

[0089] The main vehicle efficiency calculation module 330 is used to calculate the main vehicle working efficiency of each target application by using a preset main vehicle efficiency formula;

[0090] The connection request sending module 340 is used to select the target application with the largest main vehicle work efficiency value in each target application set as the intended application matching the target application set, generate a connection request matching the intended application and send it to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

[0091] The technical solution of the embodiment of the present invention is that after a mechanical master vehicle that pre-stores the vehicle model of each mechanical slave vehicle receives at least one task processing request, it sends each task processing request to the mechanical slave vehicle whose vehicle model matches the target vehicle model based on the target vehicle model contained in each task processing request, then receives the teaming application sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregates the teaming applications with the same task code through the task code contained in each teaming application to obtain each target application set, then calculates the main vehicle working efficiency of each target application through a preset main vehicle efficiency formula, and selects the target application with the largest main vehicle working efficiency value in each target application set as the intended application matching the target application set, generates a connection request matching the intended application and sends it to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to team up with the mechanical master vehicle, thereby improving the teaming efficiency of unmanned mechanical vehicles and further improving the working efficiency of unmanned mechanical vehicles.

[0092] On the basis of the above-mentioned embodiment, the main vehicle efficiency calculation module 330 is specifically used to: calculate the main vehicle efficiency that matches each target application through the formula: main vehicle work efficiency = (operation duration × task priority) / [(operation duration + waiting time + operation preparation time) × vehicle cost coefficient], and each target application.

[0093] An unmanned mechanical vehicle teaming device provided in an embodiment of the present invention can execute an unmanned mechanical vehicle teaming method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0094] Embodiment 4

[0095] Figure 4 This is a schematic diagram of the structure of a teaming device for unmanned mechanical vehicles provided in the fourth embodiment of the present invention. Figure 4 As shown, the device comprises:

[0096] A state determination module 410 is used to determine whether the current state of the mechanical slave vehicle is idle in response to a receiving operation of at least one task processing request;

[0097] A slave vehicle efficiency calculation module 420 is used to determine that the current state is idle and then calculate the slave vehicle working efficiency that matches each task processing request through a preset slave vehicle efficiency formula;

[0098] A teaming application generation module 430 is used to select the task processing request with the largest working efficiency value of the slave vehicle as the target processing request, generate a teaming application matching the target processing request, and send it to the mechanical master vehicle;

[0099] The teaming module 440 is used to team up with the mechanical main vehicle in response to the received connection request.

[0100] The technical solution of the embodiment of the present invention is to determine whether the current state of the mechanical slave vehicle is idle by having the mechanical slave vehicle respond to the receiving operation of at least one task processing request, and after determining that the current state is idle, calculate the slave vehicle work efficiency that matches each task processing request through a preset slave vehicle efficiency formula, and then select the task processing request with the largest slave vehicle work efficiency value as the target processing request, generate a teaming application that matches the target processing request and send it to the mechanical main vehicle, and finally respond to the received connection request to team up with the mechanical main vehicle, thereby solving the problem of low vehicle teaming efficiency in the existing unmanned mechanical vehicle teaming method, which in turn leads to low working efficiency of the unmanned mechanical vehicles, and realizes the teaming operation of mechanical slave vehicles and mechanical main vehicles in the unmanned mechanical vehicle fleet, thereby improving the teaming efficiency of the unmanned mechanical vehicles and thus improving the working efficiency of the unmanned mechanical vehicles.

[0101] Based on the above embodiment, the slave vehicle efficiency calculation module 420 includes:

[0102] A positioning unit, used to locate the current position, and calculate the time for the machine to travel from the current position to the target area of ​​each task processing request according to the regional positioning information, as the operation preparation time matched with each task processing request;

[0103] The calculation unit is used to calculate the slave vehicle work efficiency matching each task processing request through the formula: slave vehicle work efficiency = (operation duration × task priority) / (operation duration + waiting time × waiting penalty coefficient + operation preparation time).

[0104] Based on the above embodiment, the teaming module 440 is also used to: after forming a team with the mechanical main vehicle in response to the received connection request, receive the task operation command sent by the mechanical main vehicle that matches the target task processing request, and execute the task operation command to complete the relevant operation.

[0105] Embodiment 5

[0106] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0107] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0108] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a teaming method for unmanned mechanical vehicles.

[0110] The method for forming a team of unmanned mechanical vehicles executed by a mechanical master vehicle that pre-stores the vehicle models of each mechanical slave vehicle includes:

[0111] After receiving at least one task processing request, sending each task processing request to a mechanical slave vehicle whose vehicle model matches the target vehicle model based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request;

[0112] Receive teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregate teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set;

[0113] Calculate the main vehicle working efficiency of each target application through the preset main vehicle efficiency formula;

[0114] In each target application set, the target application with the largest working efficiency value of the main vehicle is selected as the intended application matching the target application set, a connection request matching the intended application is generated and sent to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

[0115] In some embodiments, a method for forming a team of unmanned mechanical vehicles may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for forming a team of unmanned mechanical vehicles described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute a method for forming a team of unmanned mechanical vehicles in any other appropriate manner (e.g., by means of firmware).

[0116] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0118] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0119] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0120] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0121] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0122] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

Claims

1. A method for forming a team of unmanned mechanical vehicles, executed by a mechanical master vehicle that pre-stores the vehicle models of each mechanical slave vehicle, characterized in that: include: After receiving at least one task processing request, sending each task processing request to a mechanical slave vehicle whose vehicle model matches the target vehicle model based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request; Receive teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregate teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set; Calculate the main vehicle working efficiency of each target application through the preset main vehicle efficiency formula; In each target application set, the target application with the largest working efficiency value of the main vehicle is selected as the intended application matching the target application set, a connection request matching the intended application is generated and sent to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

2. The method according to claim 1, characterized in that: The team application includes: task code, operation duration, task priority, operation preparation time, waiting time and vehicle cost coefficient.

3. The method according to claim 2, characterized in that The main vehicle working efficiency of each target application is calculated by the preset main vehicle efficiency formula, including: The working efficiency of the main vehicle matching each target application is calculated through the formula: main vehicle working efficiency = (operation time × task priority) / [(operation time + waiting time + operation preparation time) × vehicle cost coefficient] and each target application.

4. A method for forming a team of unmanned mechanical vehicles, performed by a mechanical slave vehicle, characterized in that: include: In response to receiving at least one task processing request, determining whether the current state of the mechanical slave vehicle is idle; After determining that the current state is idle, the slave vehicle working efficiency that matches each task processing request is calculated using a preset slave vehicle efficiency formula; Select the task processing request with the largest working efficiency value of the slave vehicle as the target processing request, generate a teaming application matching the target processing request and send it to the mechanical master vehicle; Teaming with the mechanical main vehicle is performed in response to the received connection request.

5. The method according to claim 4, characterized in that The task processing request includes: task code, operation duration, task priority, waiting time, waiting penalty coefficient and target area; And, the slave vehicle working efficiency matching each task processing request is calculated by using a preset slave vehicle efficiency formula, including: Positioning the current position, and calculating the time for the machine to travel from the current position to the target area of ​​each task processing request according to the regional positioning information, as the operation preparation time matched with each task processing request; The formula: slave vehicle work efficiency = (operation duration × task priority) / (operation duration + waiting time × waiting penalty coefficient + operation preparation time) is used to calculate the slave vehicle work efficiency that matches each task processing request.

6. The method according to claim 4, characterized in that After forming a team with the mechanical main vehicle in response to the received connection request, the method further includes: Receive a task operation command sent by the mechanical main vehicle that matches the target task processing request, and execute the task operation command to complete related operations.

7. A teaming device for unmanned mechanical vehicles, executed by a mechanical master vehicle that pre-stores the vehicle models of each mechanical slave vehicle, characterized in that: include: A task request sending module is used to send each task processing request to a mechanical slave vehicle whose vehicle model matches the target vehicle model after receiving at least one task processing request, based on the target vehicle model included in each task processing request, so that each mechanical slave vehicle generates a team application in response to the task processing request; The aggregation module is used to receive the teaming applications sent by each mechanical slave vehicle, and after waiting for a preset time period, aggregate the teaming applications with the same task code according to the task code contained in each teaming application to obtain each target application set; The main vehicle efficiency calculation module is used to calculate the main vehicle working efficiency of each target application respectively through a preset main vehicle efficiency formula; A connection request sending module is used to select the target application with the largest main vehicle working efficiency value in each target application set as the intended application matching the target application set, generate a connection request matching the intended application and send it to the target mechanical slave vehicle matching the intended application, so that the target mechanical slave vehicle responds to the connection request to form a team with the mechanical main vehicle.

8. A teaming device for unmanned mechanical vehicles, executed by a mechanical follower vehicle, characterized in that: include: a state determination module, configured to determine whether the current state of the mechanical slave vehicle is idle in response to a receiving operation of at least one task processing request; A slave vehicle efficiency calculation module is used to determine that the current state is idle, and then calculate the slave vehicle working efficiency that matches each task processing request through a preset slave vehicle efficiency formula; A team application generation module is used to select the task processing request with the largest working efficiency value of the slave vehicle as the target processing request, generate a team application matching the target processing request, and send it to the mechanical master vehicle; The teaming module is used to team up with the mechanical main vehicle in response to the received connection request.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a method for forming a team of unmanned mechanical vehicles as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a method for forming a team of unmanned mechanical vehicles according to any one of claims 1 to 6 when executed.

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