Scheduling method, device and equipment of transportation carrier and storage medium
By determining and updating the path area of the automatic guide trolley, the problem of inefficiency caused by overlapping paths is solved, and more efficient transportation path planning and execution is achieved.
Patent Information
- Application Number
- CN202411563412.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2025-02-28
AI Technical Summary
When there is overlapping of the path routes of the automatic guide trolley, the efficiency of transporting goods is low.
The transportation path is optimized by determining the first row area of the target vehicle and when the area is updated to the unlocked state, it is displayed to be updated to the second row area containing the area.
The transportation efficiency of each transport vehicle is effectively improved, so that the vehicle can continue to move when certain areas are locked and move towards the destination after unlocking the area.
Smart Images
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Abstract
Description
Technical Field
[0001] The embodiments of the present disclosure relate to the field of seat technology, and more specifically, to a method, device, equipment and storage medium for dispatching a transport vehicle. Background Art
[0002] Automated Guided Vehicle (AGV) is a transport vehicle for logistics and warehousing. Multiple AGVs can be controlled by a server. Under the scheduling of the server, these AGVs are controlled to transport goods in an orderly manner. Currently, the server can plan the routes of each AGV, but when the routes of some AGVs overlap, these AGVs run in succession to transport goods, resulting in low efficiency of transporting goods by AGVs. Summary of the invention
[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for the scheduling of transport vehicles.
[0004] According to a first aspect of the present disclosure, a method for dispatching a transport vehicle is provided, the method comprising:
[0005] Determine a first travel area where the target vehicle moves along a set travel route; wherein the first travel area is respectively related to the travel route and the vehicle size of the target vehicle;
[0006] When the first area in the set vehicle dispatch path diagram is updated to an unlocked state, the first movement area displaying the target vehicle is updated to a second movement area including the first area; wherein the first area corresponds to the portion of the movement route after the first movement area.
[0007] Optionally, determining a first movement area in which the target vehicle moves along a set movement route includes:
[0008] Determine a first position of the target vehicle and a first path node corresponding to the first position in the travel route;
[0009] Determine a second path node in the travel route that is located after the first path node;
[0010] Determine, by using the set vehicle dispatch path diagram, a third path node in the second path node that is locked by other vehicles, and determine a fourth path node in the second path node that is located before the third path node;
[0011] A first path area of the target vehicle is obtained according to the first path node, the fourth path node and the vehicle size of the target vehicle.
[0012] Optionally, the vehicle size of the target vehicle includes a lateral distance and a longitudinal distance when the target vehicle moves in a straight line;
[0013] The obtaining, according to the first path node, the fourth path node and the vehicle size of the target vehicle, a first path area of the target vehicle comprises:
[0014] Obtaining a first length value according to a first set distance corresponding to the first path node and the last fourth path node and the longitudinal distance;
[0015] Obtaining a first width value according to the lateral distance;
[0016] A first path area of the target vehicle is constructed according to the first length value and the first width value.
[0017] Optionally, the vehicle size of the target vehicle includes a lateral distance and a longitudinal distance when the target vehicle moves in a straight line, and a turning radius when the target vehicle moves in a turning motion;
[0018] The obtaining, according to the first path node, the fourth path node and the vehicle size of the target vehicle, a first path area of the target vehicle comprises:
[0019] According to the turning nodes in the travel route, determine the turning node among the first path node and the fourth path node and use it as the fifth path node;
[0020] Obtaining a second length value according to a second set distance corresponding to the first path node and the fifth path node and the longitudinal distance;
[0021] Obtaining a third length value according to a third set distance corresponding to the fifth path node and the last fourth path node and the longitudinal distance;
[0022] Obtaining a second width value according to the lateral distance;
[0023] Constructing a first rectangular area according to the second length value and the second width value;
[0024] Constructing a second rectangular area according to the third length value and the second width value;
[0025] constructing a circular area according to the turning radius;
[0026] The first rectangular area, the circular area and the second rectangular area are combined to obtain a first path area of the target vehicle.
[0027] Optionally, the travel route includes a plurality of path nodes, and the first position is separated from a second position after the first position by a fourth set distance;
[0028] After determining the first travel area in which the target vehicle moves along the set travel route, the method further includes:
[0029] Obtaining the moving distance of the target vehicle;
[0030] When the moving distance is less than the fourth set distance, it is displayed that the second area corresponding to the first position is in a locked state; wherein the second area belongs to the first path area;
[0031] When the moving distance is greater than or equal to the fourth set distance, the second area corresponding to the first position is displayed in an unlocked state, and the first movement area is updated to the third movement area; wherein the sum of the ranges of the third movement area and the second area is the same as the range of the first movement area.
[0032] Optionally, the method further comprises:
[0033] When the target vehicle moves to the fourth position corresponding to the last fourth path node, the target vehicle is controlled to move a sixth set distance and stop according to the fifth set distance between the third position corresponding to the third path node and the fourth position; wherein the sixth set distance is the fifth set distance of the set coefficient.
[0034] According to a second aspect of the present disclosure, a transport vehicle scheduling device is also provided, the device comprising:
[0035] A determination module, configured to determine a first travel area where the target vehicle moves along a set travel route; wherein the first travel area is respectively related to the travel route and the vehicle size of the target vehicle;
[0036] A display module is used to display that the first movement area of the target vehicle is updated to a second movement area including the first area when the first area in the set vehicle scheduling path diagram is updated to an unlocked state; wherein the first area corresponds to the portion of the movement route after the first movement area.
[0037] According to a third aspect of the present disclosure, an electronic device is also provided, including a processor, wherein the processor is connected to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.
[0038] According to a fourth aspect of the present disclosure, a mobile device is further provided, comprising the mobile device as described in the second aspect or the electronic device as described in the third aspect.
[0039] According to a fifth aspect of the present disclosure, a computer storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.
[0040] A beneficial effect of the embodiments of the present disclosure is that the scheduling method for transport vehicles provided by the present invention can determine the first travel area of the target vehicle, and when the first area is updated to an unlocked state, display the first travel area updated to the second travel area, which enables the transport vehicle to continue moving when certain areas are locked, and move to the destination of the transport vehicle after unlocking the area, effectively improving the transportation efficiency of each transport vehicle.
[0041] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.
[0043] Figure 1 is a flow chart of a method for dispatching a transport vehicle according to an embodiment;
[0044] Figure 2 is a schematic diagram of the structure of a vehicle scheduling path diagram according to an embodiment;
[0045] Figure 3 is a block diagram of a scheduling device for a transport vehicle according to an embodiment;
[0046] Figure 4 is a block diagram of an electronic device according to an embodiment. DETAILED DESCRIPTION
[0047] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.
[0048] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
[0049] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.
[0050] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.
[0051] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0052] <Method Example>
[0053] Figure 1 The figure is a flow chart of a method for dispatching a transport vehicle according to an embodiment. The implementation subject is, for example, a server, and the server can be connected to the transport vehicle in communication, and the transport vehicle is, for example, an automated guided vehicle (AGV).
[0054] like Figure 1 As shown, the transportation vehicle scheduling method of this embodiment may include the following steps S210 and S220:
[0055] Step S210 , determining a first movement area where the target vehicle moves along a set movement route; wherein the first movement area is respectively related to the movement route and the vehicle size of the target vehicle.
[0056] In the present application, the target vehicle may be an automatic guided vehicle controlled by a server, and the travel route is a pre-set route for instructing the movement of the target vehicle.
[0057] In some examples, such as Figure 2 As shown, the path is node 2-node 3-node 4-node 5-node 6, then the first path area is area D1. The length of area D1 = the distance value corresponding to node 2-node 6 + the length of the target vehicle + 2×the first set value Z1, and the width of area D2 = the width of the target vehicle + 2×the second set value Z2. Among them, the first set value Z1 and the second set value Z2 can be preset and are not limited here.
[0058] In some embodiments, step S210 may include the following steps S2101 to S2104:
[0059] Step S2101, determining a first position of a target vehicle and a first path node corresponding to the first position in a travel route.
[0060] In this application, the server pre-sets a vehicle dispatch path map, each point in the vehicle dispatch path map can correspond to a coordinate, and the distance from one point to another point is set as a fixed value. Figure 2 For example, node 1 corresponds to position (4, 1), node 2 corresponds to position (4, 2), and the distance between node 1 and node 2 can be 1 meter, 2 meters, or 5 meters, etc., which is not limited here.
[0061] In some examples, such as Figure 2 As shown, the first position of the target vehicle may correspond to the first path node in the route, namely, node 1. The first position of the target vehicle may also correspond to a node before the last path node in the route, such as node 2, node 3 or node 4.
[0062] Step S2102, determining a second path node located after the first path node in the travel route.
[0063] In some examples, such as Figure 2 As shown, the path route is node 2-node 3-node 4-node 5-node 6, the first path node is node 3, then the second path node can be node 3, node 4, node 5 and node 6.
[0064] Step S2103, through the set vehicle scheduling path diagram, determine the third path node in the second path node that is in a locked state by other vehicles, and determine the fourth path node in the second path node that is located before the third path node.
[0065] In some examples, the travel routes of transport vehicles A and B both include nodes corresponding to the same location, and the server library assigns the node to be locked by one of the transport vehicles based on the priorities corresponding to transport vehicles AGV1 and AGV2 or the order of time of reaching the node.
[0066] In an example, Figure 2 As shown, the movement route of the transport vehicle AGV1 is node 1-node 2-node 3-node 4-node 5-node 6-node 12-node 13, and the movement route of the transport vehicle AGV2 is node 11-node 10-node 9-node 6-node 12-node 13. Since the transport vehicle AGV1 moves to node 6 first, node 6 is locked by the transport vehicle AGV1, that is, for the transport vehicle AGV2, node 6 is locked by the transport vehicle AGV1, and the nodes before node 6 are node 11, node 10 and node 9.
[0067] Step S2104, obtaining a first path area of the target vehicle according to the first path node, the fourth path node and the vehicle size of the target vehicle.
[0068] In other words, by obtaining the first path area using the first path node and the fourth path node, the accuracy of the obtained first path area of the target vehicle is effectively improved.
[0069] In some embodiments, the vehicle size of the target vehicle includes the lateral distance and the longitudinal distance when the target vehicle moves in a straight line. Step S2104 may include the following steps S310 to S330:
[0070] Step S310, obtaining a first length value according to a first set distance and a longitudinal distance corresponding to the first path node and the last fourth path node.
[0071] Step S320: obtaining a first width value according to the horizontal distance.
[0072] Step S330: construct a first path area of the target vehicle according to the first length value and the first width value.
[0073] Continuing with the above example, the target vehicle is the transport vehicle AGV2, the first path node is node 11, the fourth path nodes are node 10 and node 9, the first length value = the distance value corresponding to node 11-node 9 + the length of the transport vehicle AGV2 + 2×the first set value Z1, the first width value = the width of the transport vehicle AGV2 + 2×the second set value Z2, the long side of the first path area is 0.5×the first width value away from the line connecting nodes 11, 10 and 9, and the distance from the endpoint of the line connecting nodes 11, 10 and 9 to the short side of the first path area is 0.5×the length of the transport vehicle AGV2 + the first set value Z1.
[0074] In other words, by constructing the first path region using the first length value and the second width value, the accuracy of the first path region of the target vehicle can be improved.
[0075] In some embodiments, the vehicle size of the target vehicle includes the lateral distance and longitudinal distance when the target vehicle moves in a straight line, and the turning radius when the target vehicle turns. Step S2104 may include the following steps S410 to S480:
[0076] Step S410: According to the turning nodes in the travel route, a turning node among the first path node and the fourth path node is determined and used as the fifth path node.
[0077] Continuing with the above example, the target vehicle is the transport vehicle AGV1, the turning node is node 6, the first path node is node 2, the fourth path node is node 3, node 4, node 5, node 6, node 12 and node 13, and the fifth path node is node 6.
[0078] Step S420, obtaining a second length value according to a second set distance and a longitudinal distance corresponding to the first path node and the fifth path node.
[0079] Continuing with the above example, the target vehicle is the transport vehicle AGV1, the first path node is node 2, the fifth path node is node 6, the second set distance is the distance from node 2 to node 6, the longitudinal distance is the length of the transport vehicle AGV1, and the second length value = the second set distance + the longitudinal distance + 2×the first set value Z1.
[0080] Step S430, obtaining a third length value according to the third set distance corresponding to the fifth path node and the last fourth path node and the longitudinal distance.
[0081] Continuing with the above example, the target vehicle is the transport vehicle AGV1, the fifth path node is node 6, the last fourth path node is node 13, the third set distance is the distance from node 6 to node 13, the longitudinal distance is the length of the transport vehicle AGV1, and the third length value = the third set distance + the longitudinal distance + 2×the first set value Z1.
[0082] Step S440: obtaining a second width value according to the horizontal distance.
[0083] Continuing with the above example, the target vehicle is the transport vehicle AGV1, and the second width value=the width of the transport vehicle AGV1+2×the second set value Z2.
[0084] Step S450: construct a first rectangular area according to the second length value and the second width value.
[0085] Continuing with the above example, the target vehicle is the transport vehicle AGV1, the long side of the first rectangular area is 0.5×the second width value away from the line connecting node 2-node 6, and the distance from the endpoint of the line connecting node 2-node 6 to the short side of the first rectangular area is 0.5×the length of the transport vehicle AGV1 + the first set value Z1.
[0086] Step S460: construct a second rectangular area according to the third length value and the second width value.
[0087] Continuing with the above example, the target vehicle is the transport vehicle AGV1, the long side of the second rectangular area is 0.5×the second width value away from the line connecting node 6-node 13, and the distance from the endpoint of the line connecting node 6-node 13 to the short side of the second rectangular area is 0.5×the length of the transport vehicle AGV1 + the first set value Z1.
[0088] Step S470: construct a circular area according to the turning radius.
[0089] Continuing with the above example, the target vehicle is the transport vehicle AGV1, the turning radius is the turning radius set for the transport vehicle AGV1, and the circular area D2 is constructed with the node 6 as the center.
[0090] Step S480: Combine the first rectangular area, the circular area, and the second rectangular area to obtain a first path area of the target vehicle.
[0091] Continuing with the above example, the target vehicle is the transport vehicle AGV1, and the first path area is the first rectangular area D1+the circular area D2+the second rectangular area D3.
[0092] In other words, by setting different areas corresponding to the turning or linear motion of the vehicle to adapt to different scenarios of turning and linear motion of the transport vehicle, the safety of the transport vehicle is effectively improved.
[0093] In some embodiments, the travel route includes a plurality of path nodes, and the first position is separated from the second position after the first position by a fourth set distance. After step S210, the method further includes the following steps S510 to S530:
[0094] Step S510, obtaining the moving distance of the target vehicle.
[0095] In some examples, such as Figure 2 As shown, the target vehicle is the transport vehicle AGV1, and the route of the transport vehicle AGV1 is node 1-node 2-node 3-node 4-node 5-node 6-node 12-node 13. The first position corresponds to node 1, the second position is node 2, and the fourth set distance can be a fixed value.
[0096] In the present application, the target vehicle may determine the moving distance of the target vehicle through an odometer and feed back the moving distance to a server.
[0097] Step S520, when the moving distance is less than a fourth set distance, displaying that the second area corresponding to the first position is in a locked state; wherein the second area belongs to the first path area.
[0098] In some examples, such as Figure 2 As shown, when the second area is in a locked state, the first path area may be the second area D4 + the first rectangular area D1.
[0099] Step S530, when the moving distance is greater than or equal to the fourth set distance, displaying that the second area corresponding to the first position is in an unlocked state, and displaying that the first path area is updated to the third path area; wherein the sum of the ranges of the third path area and the second area is the same as the range of the first path area.
[0100] In some examples, such as Figure 2 As shown, when the second area is in the unlocked state, the third path area may be the first rectangular area D1.
[0101] In other words, after the target vehicle moves out of a position, the area corresponding to the position is removed from the first path area, so that the server can reasonably dispatch multiple transport vehicles.
[0102] In some embodiments, the method further includes the following steps S610 and S620:
[0103] Step S610, when the target vehicle moves to the fourth position corresponding to the last fourth path node, according to the fifth set distance between the third position corresponding to the third path node and the fourth position, the target vehicle is controlled to move a sixth set distance and stop; wherein the sixth set distance is the fifth set distance of the set coefficient
[0104] In some examples, such as Figure 2 As shown, the target vehicle is the transport vehicle AGV2, the last fourth path node is node 9, the third path node is node 6, and the fifth set distance set between node 9 and node 6 is a fixed value. The setting coefficient is, for example, 0.1, 0.2 or 0.5, which is not limited here.
[0105] In other words, by setting the sixth set distance, the target vehicle can be closer to the end point of the travel route to further improve the transportation efficiency of each transportation vehicle.
[0106] Step S220, when the first area in the set vehicle dispatch path map is updated to an unlocked state, the first path area showing the target vehicle is updated to a second path area including the first area; wherein the first area corresponds to the portion of the path route after the first path area.
[0107] In some examples, the target vehicle is the transport vehicle AGV1, the moving path of the transport vehicle AGV1 is node 1-node 2-node 3-node 4-node 5-node 6-node 12-node 13, the first area corresponds to node 6, the first movement area is the first rectangular area D1, and when the first area is updated to the unlocked state, the second movement area is the first rectangular area D1+circular area D2.
[0108] In other words, the transport vehicle can continue to move when the first area is locked, and move to the destination of the transport vehicle after the first area is unlocked, which effectively improves the transportation efficiency of each transport vehicle.
[0109] <Equipment Example 1>
[0110] Figure 3FIG. 1 is a block diagram of a scheduling device for a transport vehicle according to an embodiment. Figure 3 As shown, the transport vehicle scheduling device 300 may include a determination module 310 and a display module 320 .
[0111] The determination module 310 is used to determine a first travel area where the target vehicle moves along a set travel route; wherein the first travel area is respectively related to the travel route and the vehicle size of the target vehicle;
[0112] The display module 320 is used to display the first path area of the target vehicle updated to a second path area including the first area when the first area in the set vehicle dispatch path diagram is updated to an unlocked state; wherein the first area corresponds to the portion of the path route after the first path area.
[0113] Optionally, the determination module 310 is also used to determine the first position of the target vehicle and the first path node corresponding to the first position in the travel route; determine the second path node located after the first path node in the travel route; determine the third path node in the second path node that is locked by other vehicles through a set vehicle scheduling path diagram, and determine the fourth path node in the second path node that is located before the third path node; obtain the first travel area of the target vehicle based on the first path node, the fourth path node and the vehicle size of the target vehicle.
[0114] Optionally, the determination module 310 is also used to obtain a first length value based on a first set distance corresponding to the first path node and the last fourth path node and the longitudinal distance; obtain a first width value based on the lateral distance; and construct a first path area of the target vehicle based on the first length value and the first width value.
[0115] Optionally, the determination module 310 is also used to determine the turning node among the first path node and the fourth path node according to the turning node in the travel route, and use it as the fifth path node; obtain the second length value according to the second set distance and the longitudinal distance corresponding to the first path node and the fifth path node; obtain the third length value according to the third set distance and the longitudinal distance corresponding to the fifth path node and the last fourth path node; obtain the second width value according to the lateral distance; construct a first rectangular area according to the second length value and the second width value; construct a second rectangular area according to the third length value and the second width value; construct a circular area according to the turning radius; combine the first rectangular area, the circular area and the second rectangular area to obtain the first travel area of the target vehicle.
[0116] Optionally, the scheduling device 300 of the transport vehicle also includes an acquisition module, which is used to acquire the moving distance of the target vehicle; when the moving distance is less than a fourth set distance, the second area corresponding to the first position is displayed to be in a locked state; wherein the second area belongs to the first path area; when the moving distance is greater than or equal to the fourth set distance, the second area corresponding to the first position is displayed to be in an unlocked state, and the first path area is updated to a third path area; wherein the sum of the ranges of the third path area and the second area is the same as the range of the first path area.
[0117] Optionally, the scheduling device 300 of the transport vehicle also includes a parking module, which is used to control the target vehicle to move a sixth set distance and stop according to a fifth set distance between the third position and the fourth position corresponding to the third path node when the target vehicle moves to the fourth position corresponding to the last fourth path node; wherein the sixth set distance is the fifth set distance of the set coefficient.
[0118] The transport vehicle dispatching device 300 may be a server.
[0119] <Equipment Example 2>
[0120] Figure 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.
[0121] like Figure 4 As shown, the electronic device 400 includes a processor 410 and a memory 420, wherein the memory 420 is used to store an executable computer program, and the processor 410 is used to execute a method such as any of the above method embodiments under the control of the computer program.
[0122] The electronic device 400 may be a server.
[0123] Each module of the above-mentioned transport vehicle dispatching device 300 may be implemented by the processor 410 in this embodiment executing a computer program stored in the memory 420, or may be implemented by other structures, which is not limited here.
[0124] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.
[0125] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: 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), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.
[0126] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.
[0127] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.
[0128] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.
[0129] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.
[0130] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.
[0131] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.
[0132] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.
Claims
1. A method for dispatching a transport vehicle, characterized in that: The method comprises: Determine a first travel area where the target vehicle moves along a set travel route; wherein the first travel area is respectively related to the travel route and the vehicle size of the target vehicle; When the first area in the set vehicle dispatch path diagram is updated to an unlocked state, the first movement area displaying the target vehicle is updated to a second movement area including the first area; wherein the first area corresponds to the portion of the movement route after the first movement area.
2. The method according to claim 1, characterized in that The step of determining a first movement area in which the target vehicle moves along a set movement route includes: Determine a first position of the target vehicle and a first path node corresponding to the first position in the travel route; Determine a second path node in the travel route that is located after the first path node; Determine, by using the set vehicle dispatch path diagram, a third path node in the second path node that is locked by other vehicles, and determine a fourth path node in the second path node that is located before the third path node; A first path area of the target vehicle is obtained according to the first path node, the fourth path node and the vehicle size of the target vehicle.
3. The method according to claim 2, characterized in that The vehicle size of the target vehicle includes a lateral distance and a longitudinal distance when the target vehicle moves in a straight line; The obtaining, according to the first path node, the fourth path node and the vehicle size of the target vehicle, a first path area of the target vehicle comprises: Obtaining a first length value according to a first set distance corresponding to the first path node and the last fourth path node and the longitudinal distance; Obtaining a first width value according to the lateral distance; A first path area of the target vehicle is constructed according to the first length value and the first width value.
4. The method according to claim 2, characterized in that: The vehicle size of the target vehicle includes a lateral distance and a longitudinal distance when the target vehicle moves in a straight line, and a turning radius when the target vehicle turns; The obtaining, according to the first path node, the fourth path node and the vehicle size of the target vehicle, a first path area of the target vehicle comprises: According to the turning nodes in the travel route, determine the turning node among the first path node and the fourth path node and use it as the fifth path node; Obtaining a second length value according to a second set distance corresponding to the first path node and the fifth path node and the longitudinal distance; Obtaining a third length value according to a third set distance corresponding to the fifth path node and the last fourth path node and the longitudinal distance; Obtaining a second width value according to the lateral distance; Constructing a first rectangular area according to the second length value and the second width value; Constructing a second rectangular area according to the third length value and the second width value; constructing a circular area according to the turning radius; The first rectangular area, the circular area and the second rectangular area are combined to obtain a first path area of the target vehicle.
5. The method according to claim 2, characterized in that: The travel route includes a plurality of path nodes, and the first position is separated from a second position after the first position by a fourth set distance; After determining the first travel area in which the target vehicle moves along the set travel route, the method further includes: Obtaining the moving distance of the target vehicle; When the moving distance is less than the fourth set distance, it is displayed that the second area corresponding to the first position is in a locked state; wherein the second area belongs to the first path area; When the moving distance is greater than or equal to the fourth set distance, the second area corresponding to the first position is displayed in an unlocked state, and the first movement area is updated to the third movement area; wherein the sum of the ranges of the third movement area and the second area is the same as the range of the first movement area.
6. The method according to claim 2, characterized in that The method further comprises: When the target vehicle moves to the fourth position corresponding to the last fourth path node, the target vehicle is controlled to move a sixth set distance and stop according to the fifth set distance between the third position corresponding to the third path node and the fourth position; wherein the sixth set distance is the fifth set distance of the set coefficient.
7. A dispatching device for a transport vehicle, characterized in that: The device comprises: A determination module, configured to determine a first travel area where the target vehicle moves along a set travel route; wherein the first travel area is respectively related to the travel route and the vehicle size of the target vehicle; A display module is used to display that the first movement area of the target vehicle is updated to a second movement area including the first area when the first area in the set vehicle scheduling path diagram is updated to an unlocked state; wherein the first area corresponds to the portion of the movement route after the first movement area.
8. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 6.
9. A mobile device, characterized in that: A calibration device comprising the mobile device as claimed in claim 7 or the electronic device as claimed in claim 8.
10. A computer storage medium, characterized in that: The computer storage medium stores a computer-readable program, and the computer-readable program is executed by a processor to perform the steps of the method according to any one of claims 1 to 6.