Scheduling method, device and equipment applied to large-scale unmanned vehicle cluster

Abstract

The embodiment of the invention provides a scheduling method, device and equipment applied to a large-scale unmanned vehicle cluster, and the method comprises the steps: receiving a frame selection operation instruction for selecting a map region on a map display interface after a frame selection function is triggered, and determining a target map region selected on the map display interface; and determining a target unmanned vehicle in a real area corresponding to the target map area, displaying information of the target unmanned vehicle at a corresponding position of the target map area, and sending an operation instruction to the target unmanned vehicle. According to the scheduling method and system applied to the large-scale unmanned vehicle cluster provided by the embodiment of the invention, a user can intuitively control the unmanned vehicles; moreover, through frame selection instruction operation, a corresponding unmanned vehicle cluster can be selected, and targeted instructions can be sent in batches.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a scheduling method, device and equipment applied to a large-scale unmanned vehicle cluster. Background Art

[0002] Unmanned driving technology has broad application prospects in industrial production, mining and other fields. It can not only improve the safety and efficiency of mining operations, but also reduce costs, reduce energy consumption, and achieve green and low-carbon development. However, there are many problems in the existing unmanned vehicle scheduling methods, such as the inability of users to intuitively schedule unmanned vehicles and the inability to perform targeted batch operations on unmanned vehicle clusters. Summary of the invention

[0003] The embodiments of the present disclosure provide a scheduling method, device and equipment for large-scale unmanned vehicle clusters to solve existing problems.

[0004] Based on the above problems, in a first aspect, an embodiment of the present disclosure provides a scheduling method applied to a large-scale unmanned vehicle cluster, including:

[0005] After the box selection function is triggered, receiving a box selection operation instruction for selecting a map area on the map display interface, and determining first position information indicated by the box selection operation instruction;

[0006] When receiving a box selection operation completion instruction, determining second position information indicated by the box selection operation completion instruction;

[0007] Determine a target map area selected on the map display interface according to the first location information and the second location information;

[0008] Determine a target unmanned vehicle in a real area corresponding to the target map area, display information of the target unmanned vehicle at a corresponding position in the target map area, and send an operation instruction to the target unmanned vehicle.

[0009] In combination with the first aspect, in a possible embodiment, receiving a box selection operation instruction for selecting a map area on a map display interface, and determining first location information indicated by the box selection operation instruction includes:

[0010] Receiving a frame selection operation instruction for selecting a map area on a map display interface, and determining the starting position information and the frame selection process position information of the target map area according to the frame selection operation instruction;

[0011] Displaying the frame selection process of the target map area according to the starting position information and the frame selection process position information;

[0012] The step of determining, upon receiving a box selection operation completion instruction, second location information indicated by the box selection operation completion instruction; and determining a target map area selected on the map display interface according to the first location information and the second location information, includes:

[0013] When receiving a box selection operation completion instruction, determining the end position information of the target map area;

[0014] According to the starting position information, the selection process position information and the ending position information, a target map area selected on the map display interface is determined and displayed.

[0015] In combination with the first aspect, in a possible embodiment, receiving a frame selection operation instruction for selecting a map area on a map display interface, and determining the starting position information and the frame selection process position information of the target map area according to the frame selection operation instruction; and displaying the frame selection process of the target map area according to the starting position information and the frame selection process position information, includes:

[0016] Receiving multiple click operations on the map display interface, and for each click operation other than the first click operation, connecting the location point corresponding to the click operation with the location point corresponding to the last click operation and displaying a corresponding first connection line;

[0017] The method of determining the end position information of the target map area upon receiving the box selection operation completion instruction; and determining and displaying the target map area boxed on the map display interface according to the starting position information, the box selection process position information, and the end position information, includes:

[0018] When a click operation is received again on the first location point corresponding to the first click operation, the location point corresponding to the last click operation before the click operation is performed again on the first location point will be connected to the first location point and a corresponding second line will be displayed; based on the area enclosed by the first line and the second line, the target map area selected on the map display interface is determined.

[0019] In combination with the first aspect, in a possible embodiment, when a box selection operation instruction is received but a box selection operation completion instruction has not been received, the method further includes:

[0020] If an exit box selection operation instruction is received, the first position information selected by the box selection operation instruction for the uncompleted target map area is deleted; and the determined target map area is retained.

[0021] In combination with the first aspect, in a possible embodiment, sending an operation instruction to the target unmanned vehicle includes: sending a preset default operation instruction to the target unmanned vehicle; and / or

[0022] The method further comprises:

[0023] Displaying an operation instruction set corresponding to the target unmanned vehicle at a preset position on the map display interface;

[0024] Sending an operation instruction to the target unmanned vehicle includes:

[0025] In response to a user selecting an operation instruction in the instruction set, the operation instruction selected by the user is sent to the target unmanned vehicle.

[0026] In combination with the first aspect, in a possible embodiment, the control instruction carries a preset control parameter; and the method further includes:

[0027] Receiving feedback information of the preset control parameters fed back by the target unmanned vehicle after receiving the preset control parameters;

[0028] Based on the feedback information, anomaly detection and / or instruction correctness detection are performed on the target unmanned vehicle.

[0029] In a second aspect, the present disclosure provides a scheduling method for a large-scale unmanned vehicle cluster, including:

[0030] Receive operation instructions;

[0031] Detecting whether an execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself;

[0032] If the condition is satisfied, the operation instruction is executed; if not satisfied, the detection of whether the execution condition is satisfied is repeated at preset time intervals within a preset time length until the execution condition is satisfied, and the operation instruction is executed.

[0033] In combination with the second aspect, in a possible embodiment, the environmental information includes at least one of the following: road surface information, terrain information, and congestion information; the current state information includes at least one of the following: vehicle speed information and running time information;

[0034] The operation instruction includes an acceleration instruction; and detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself includes:

[0035] When the environmental information satisfies at least one of the following conditions: the road surface information indicates that the road surface slipperiness is less than a first threshold, the current terrain upward slope is less than a second threshold, and the number and distance of surrounding vehicles meet a non-congestion condition, and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is less than a third threshold and / or the running time is less than a fourth threshold; determine that the unmanned vehicle meets the execution condition of the acceleration instruction; and / or

[0036] The operation instruction includes a deceleration instruction; and detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself includes:

[0037] When the environmental information satisfies: the downward slope of the current terrain is greater than the fifth threshold and / or the number and distance of surrounding vehicles meet the congestion condition; and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; it is determined that the unmanned vehicle meets the execution conditions of the deceleration instruction.

[0038] In combination with the second aspect, in a possible embodiment, the environmental information includes: capacity information, location information, and vehicle status information of the target energy replenishment area; the current state information includes remaining energy information of the unmanned vehicle;

[0039] The operation instruction includes: a power replenishment instruction; the detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself includes:

[0040] When the current state information of the unmanned vehicle satisfies the situation that the remaining energy is insufficient; and

[0041] In the case where the number of vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, or the number of vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, and according to the energy replenishment task execution status of the vehicles in the target energy replenishment zone, if the unmanned vehicle joins the target energy replenishment zone after a first period of time and does not exceed the capacity limit of the target energy replenishment zone, it is determined that the unmanned vehicle meets the execution condition of the energy replenishment instruction; if the capacity limit of the target energy replenishment zone is exceeded, the unmanned vehicle continues to execute the current operation task;

[0042] The first duration is the duration it takes for the unmanned vehicle to depart from the current position and reach the target energy replenishment area.

[0043] A third aspect of this embodiment provides a scheduling device applied to a large-scale unmanned vehicle cluster, including:

[0044] A positioning module, for receiving a box selection operation instruction for selecting a map area on a map display interface after the box selection function is triggered, and determining first position information indicated by the box selection operation instruction; and determining second position information indicated by the box selection operation completion instruction when a box selection operation completion instruction is received;

[0045] A display module is used to determine a target map area selected on the map display interface according to the first position information and the second position information; determine a target unmanned vehicle in a real area corresponding to the target map area, and display information of the target unmanned vehicle at a corresponding position in the target map area;

[0046] An instruction sending module is used to send operation instructions to the target unmanned vehicle.

[0047] A fourth aspect of this embodiment provides a scheduling device applied to a large-scale unmanned vehicle cluster, including:

[0048] An instruction receiving module, used for receiving an operation instruction;

[0049] The detection module is used to detect whether the execution condition of the operation instruction is met based on the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; if so, the operation instruction is executed; if not, the detection of whether the execution condition is met is repeated at preset time intervals within a preset time length until the execution condition is met, and the operation instruction is executed.

[0050] The fifth aspect of this embodiment provides a device, including: a scheduling device applied to a large-scale unmanned vehicle cluster as described in the third aspect or the fourth aspect.

[0051] The beneficial effects of the embodiments of the present disclosure include:

[0052] The present disclosure provides a scheduling method, device and equipment for a large-scale unmanned vehicle cluster, wherein the method includes: after the box selection function is triggered, the cloud control platform side receives a box selection operation instruction for selecting a map area on the map display interface, and determines the first position information indicated by the box selection operation instruction; when receiving the box selection operation completion instruction, determines the second position information indicated by the box selection operation completion instruction; determines the target map area boxed on the map display interface according to the first position information and the second position information; determines the target unmanned vehicle in the real area corresponding to the target map area, displays the information of the target unmanned vehicle at the corresponding position of the target map area, and sends the operation instruction to the target unmanned vehicle. The unmanned vehicle side detects whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; if it is met, executes the operation instruction; if it is not met, repeats the detection of whether the execution condition is met at a preset time interval within a preset time length until the execution condition is met and executes the operation instruction. It can be seen that the scheduling method for large-scale unmanned vehicle clusters provided in this embodiment can provide users with a box selection function through a map display interface on a cloud control platform. Users can intuitively see the unmanned vehicles displayed on the map through the map display interface, and send box selection operation instructions for selecting the map area and box selection operation completion instructions. The cloud control platform determines the target unmanned vehicle by parsing the received instructions and sends operation instructions to the target unmanned vehicle, thereby enabling users to intuitively control the unmanned vehicle and solving the problem of the inability to intuitively schedule unmanned vehicles in related technologies; and, through the box selection instruction operation, the corresponding unmanned vehicle cluster can be selected and targeted instructions can be sent in batches, solving the problem of the inability to perform targeted batch operations on unmanned vehicle clusters in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A flow chart of a method for scheduling a large-scale unmanned vehicle cluster on a cloud control platform provided in an embodiment of the present disclosure;

[0054] Figure 2 A flowchart of the execution of the unmanned vehicle side operation instructions provided by the embodiment of the present disclosure;

[0055] Figure 3 One of the structural schematic diagrams of a dispatching device applied to a large-scale unmanned vehicle cluster provided by an embodiment of the present disclosure;

[0056] Figure 4 The second structural schematic diagram of a dispatching device applied to a large-scale unmanned vehicle cluster provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The embodiments of the present disclosure provide a scheduling method, device and apparatus for large-scale unmanned vehicle clusters. The preferred embodiments of the present disclosure are described below in conjunction with the drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0058] The present disclosure provides a scheduling method for a large-scale unmanned vehicle cluster, which is applied to a cloud control platform. Figure 1 As shown, including:

[0059] S101, after the box selection function is triggered, receiving a box selection operation instruction for selecting a map area on a map display interface, and determining first position information indicated by the box selection operation instruction;

[0060] S102, when receiving a box selection operation completion instruction, determining second position information indicated by the box selection operation completion instruction;

[0061] S103, determining a target map area selected on the map display interface according to the first location information and the second location information;

[0062] S104: Determine a target unmanned vehicle in a real area corresponding to the target map area, display information of the target unmanned vehicle at a corresponding position in the target map area, and send an operation instruction to the target unmanned vehicle.

[0063] In the disclosed embodiment, the execution entity may be a cloud control platform with a scheduling function. The cloud control platform may display the map and the unmanned vehicle at the corresponding position on the map in real time through the map display interface. In one possible implementation, a corresponding button may be set in the display area of ​​the cloud control platform, and the user triggers the box selection function of the cloud control platform by clicking the button. After the box selection function is triggered, the cloud control platform may receive the box selection operation instructions and the box selection operation completion instructions sent by the user during the box selection process through a display screen (e.g., a touch display screen), and obtain the first position information and the second position information respectively indicated by the above instructions, and display the first position and the second position in the map area of ​​the map display interface in real time to show the user's box selection process.

[0064] Furthermore, the cloud control platform determines the target map area based on the first location information and the second location information, and displays it at the corresponding position of the map area. Since the real-time location information of the unmanned vehicle is displayed in the map display interface, combined with the target map area, the target unmanned vehicle in the target map area can be determined, that is, the target unmanned vehicle selected by the selection function.

[0065] In one possible implementation, the cloud control platform can display the information of the selected target unmanned vehicle at the first preset position in the target map area, such as: the unmanned vehicle number information, model information, current mission information, etc., so that the user can intuitively obtain the information of the target unmanned vehicle and send operation instructions to the target unmanned vehicle.

[0066] In one possible implementation, the cloud control platform can display a check control for each target unmanned vehicle at a second preset position on the map display interface, and the check control status of each unmanned vehicle is checked by default; the cloud control platform can receive an instruction to uncheck the check control corresponding to any target unmanned vehicle; and delete the arbitrary target unmanned vehicle from the determined target unmanned vehicle cluster. Among them, the target unmanned vehicle cluster can be multiple unmanned vehicles performing the same task. In the disclosed embodiment, the cloud control platform can display the unmanned vehicle position, map area, and marks representing the selection process (i.e., the first position information, the second position information, and the target map area) in real time. Through the above displayed information, users can intuitively select unmanned vehicles in batches in the map area through the map display interface of the cloud control platform, and send operation instructions in batches to realize the scheduling of the unmanned vehicle cluster.

[0067] In another embodiment provided by the embodiments of the present disclosure, in the above step S101, “receiving a box selection operation instruction for selecting a map area in a map display interface, and determining the first location information indicated by the box selection operation instruction” includes the following steps:

[0068] Step 1: receiving a selection operation instruction for selecting a map area on a map display interface, and determining the starting position information of the target map area and the selection process position information according to the selection operation instruction;

[0069] Step 2: Display the frame selection process of the target map area according to the starting position information and the frame selection process position information;

[0070] The above step S102 of "determining the second position information indicated by the box selection operation completion instruction when receiving the box selection operation completion instruction" and the above step S103 of "determining the target map area selected on the map display interface according to the first position information and the second position information" include the following steps:

[0071] Step 1: upon receiving a box selection operation completion instruction, determining the end position information of the target map area;

[0072] Step 2: According to the starting position information, the position information during the selection process, and the ending position information, the target map area selected on the map display interface is determined and displayed.

[0073] In the disclosed embodiment, after the box selection function is triggered, when the cloud control platform receives a box selection operation instruction to perform a box selection operation starting from any position in the map area of ​​the map display interface, the cloud control platform marks the first position information, i.e., the starting position information of the box selection operation, and the position information of the continuous box selection process according to the instruction of the box selection operation instruction; when the box selection operation completion instruction is received, the second position information, i.e., the end position information of the box selection operation, can be marked to display the user's box selection process.

[0074] In one possible implementation, the frame selection operation instruction may be a click operation performed on any position in the map area on the map display interface, that is, the first click operation is performed on any position in the map display interface as the starting position of the target map area, and then the click operation is continued at multiple positions and the clicked position points are connected and displayed in real time, which is the position information of the frame selection process; the frame selection operation instruction may also be a drag operation, that is, dragging is started from any position on the map display interface, and the arbitrary position can be the starting position of the target map area. During the dragging process, the starting position will be used as the starting point, and the position information of the rectangle generated in real time with the dragging trajectory as the diagonal line will be used as the frame selection process position information, and the dragging process will be displayed in real time.

[0075] In a possible implementation, for a click operation, the position of the last click can be used as the end position, that is, when the end position is clicked, it is determined that the box selection operation completion instruction has been received; for a drag operation, the position where the drag ends can be used as the end position, that is, when the drag ends, it is determined that the box selection operation completion instruction has been received. The cloud control platform marks the end position of the box selection operation according to the instruction of the box selection operation completion instruction and obtains the end position information.

[0076] In one possible implementation, for a click operation, the location points of multiple click operations are connected sequentially (the last point can be connected to the first point), and the enclosed area can be used as the target map area obtained by the frame selection operation; for a drag operation, the starting position and the end position are used as the diagonal points of the rectangle, and the rectangular area formed can be used as the target map area obtained by the frame selection operation.

[0077] In another embodiment provided by the embodiments of the present disclosure, the above step 1 "receiving a frame selection operation instruction for selecting a map area on a map display interface, and determining the starting position information and the frame selection process position information of the target map area according to the frame selection operation instruction", and step 2 "displaying the frame selection process of the target map area according to the starting position information and the frame selection process position information" can also be implemented as the following steps:

[0078] Receiving multiple click operations on the map display interface, and for each click operation other than the first click operation, connecting the location point corresponding to the click operation with the location point corresponding to the last click operation and displaying a corresponding first connection line;

[0079] The above step 1 "determining the end position information of the target map area when receiving the box selection operation completion instruction" and the above step 2 "determining and displaying the target map area selected on the map display interface according to the starting position information, the box selection process position information and the end position information" can also be implemented as the following steps:

[0080] When a click operation is received again on the first location point corresponding to the first click operation, the location point corresponding to the last click operation before the click operation is performed again on the first location point will be connected to the first location point and the corresponding second line will be displayed; based on the area enclosed by the first line and the second line, the target map area selected on the map display interface is determined.

[0081] In the disclosed embodiment, when the cloud control platform receives the first click operation in the map area of ​​the map display interface, it indicates that it starts to receive the frame selection operation instruction, and then continues to receive multiple click operations. Each time a click operation is received, a new position point is obtained, that is, the new position point is connected with the previous position point to form a first connection line, and multiple first connection lines (i.e., the position of the frame selection process) are obtained, and the corresponding first connection lines are displayed in real time in the map area; when a click operation is received again on the first position point corresponding to the first click operation, it is confirmed that the frame selection operation completion instruction is received, and the position point corresponding to the last click operation is connected to the first position point before the click operation is performed on the first position point again to form a second connection line. The area formed by the second connection line and all the first connection lines is determined and displayed on the map area of ​​the map display interface, and the area is the target map area.

[0082] Furthermore, in order to let the user who performs the box selection operation know how to complete the box selection operation, during the process of receiving multiple click operations, each time a click operation on a new location point is received, a floating window is displayed on the map display interface and prompt information is displayed in the floating window; the prompt information can be used to prompt the user to click the first location point again to complete the selection of the target map area; the display position of the floating window can change according to the change of the position information during the box selection process.

[0083] Furthermore, after determining the target map area selected this time, and when the cloud control platform is still executing the frame selection function, the map display interface can again receive frame selection operation instructions for selecting the map area, as well as frame selection operation completion instructions, to determine the next target map area selected on the map display interface.

[0084] In another embodiment provided by the embodiment of the present disclosure, when a box selection operation instruction is received but a box selection operation completion instruction has not been received, the method further includes:

[0085] If an exit box selection operation instruction is received, the first position information selected by the box selection operation instruction for the uncompleted target map area is deleted; and the determined target map area is retained.

[0086] In the disclosed embodiment, in a possible implementation, a corresponding button may be set in the display area of ​​the cloud control platform, and the user sends an exit box selection operation instruction to the cloud control platform by clicking the corresponding button, so as to make the cloud control platform exit the box selection function. After receiving the exit box selection operation instruction, the cloud control platform deletes the first location information selected by the box selection operation instruction for the unfinished map area box selection operation instruction (that is, the box selection operation completion instruction for the target map area has not been received), and the map area of ​​the map display interface stops displaying the unfinished target map area; at the same time, the map area retains the determined target map area, and keeps the unmanned vehicle in the completed target map area in a boxed state. After performing the above operations, the cloud control platform completes the exit box selection operation instruction. After the cloud control platform exits the box selection function, the user cannot send the box selection operation instruction and the box selection operation completion instruction to the cloud control platform without entering the box selection function.

[0087] In another embodiment provided by the present disclosure, in the above step S101, "sending an operation instruction to the target unmanned vehicle" includes: sending a preset default operation instruction to the target unmanned vehicle; and / or

[0088] The method also includes:

[0089] Displaying the operation instruction set corresponding to the target unmanned vehicle at a preset position on the map display interface;

[0090] Sending operation instructions to the target unmanned vehicle, including:

[0091] In response to the user's selection of an operation instruction in the instruction set, the operation instruction selected by the user is sent to the target unmanned vehicle.

[0092] In the disclosed embodiment, in one possible implementation, after completing the selection operation and confirming the information of the selected unmanned vehicle in the target area, the cloud control platform sends a preset default operation instruction to the target unmanned vehicle.

[0093] In another possible implementation, after completing the selection operation and confirming the information of the selected unmanned vehicle in the target area, the cloud control platform displays the operation instruction set corresponding to the target unmanned vehicle in a preset area of ​​the map display interface. The cloud control platform receives the selection operation of the operation instruction set and sends the selected operation instruction to the target unmanned vehicle.

[0094] In another embodiment provided by the embodiment of the present disclosure, the control instruction carries a preset control parameter; and the method further includes:

[0095] Receiving feedback information of the preset control parameters after the target unmanned vehicle receives the preset control parameters;

[0096] Based on the feedback information, the target unmanned vehicle is subjected to abnormality detection and / or command correctness detection.

[0097] In the disclosed embodiment, anomaly detection or instruction correctness detection can be performed through the target unmanned vehicle. For example, a box selection operation instruction can be sent through the map display interface to select the target unmanned vehicle in the same formation, and the preset control parameters are carried in the control instruction and sent to the target unmanned vehicle, and the control instruction is synchronously executed by the target unmanned vehicle, and feedback information is sent for the preset control parameters. After receiving the feedback information, the cloud control platform determines the status of the corresponding unmanned vehicle based on the feedback information, or detects the correctness of the instruction.

[0098] During implementation, after receiving the preset control instruction, the target unmanned vehicle executes the corresponding control instruction, obtains the preset control parameters, and sets its own corresponding functions based on the preset control parameters (for example, the preset control parameters can be heartbeat query parameters for detecting whether the unmanned vehicle is online), and feedback information for the preset control parameters is fed back to the cloud control platform. The cloud control platform compares the feedback information fed back by the unmanned vehicle cluster that executes the same control instruction, determines the corresponding unmanned vehicle with abnormal feedback information, and confirms that the unmanned vehicle is an abnormal unmanned vehicle. The above-mentioned feedback information abnormality can be judged based on the average value of the feedback parameters of each unmanned vehicle in the unmanned vehicle cluster and the difference in the feedback parameters of a single unmanned vehicle. If the difference is greater than the preset range, the feedback information of the unmanned vehicle can be considered abnormal.

[0099] In another possible implementation, the cloud control platform determines the working status of the corresponding unmanned vehicle based on the feedback information to determine whether the unmanned vehicle correctly executes the instructions sent by the cloud control platform, thereby performing instruction correctness detection.

[0100] The present disclosure provides a scheduling method for large-scale unmanned vehicle clusters, such as Figure 2 As shown, it is applied to the unmanned vehicle side, including:

[0101] S201, receiving an operation instruction;

[0102] S202, detecting whether the execution conditions of the operation instruction are met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself;

[0103] S203, if satisfied, execute the operation instruction;

[0104] S204: If not, repeatedly checking whether the execution condition is met within a preset time period and at preset time intervals until the execution condition is met, and then executing the operation instruction.

[0105] In the disclosed embodiment, the execution subject may be an unmanned vehicle with the function of executing instructions. The unmanned vehicle receives the operation instruction transmitted by the cloud control platform, collects the corresponding preset information required to execute the operation instruction (i.e., the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself), and determines whether the unmanned vehicle can execute the corresponding operation instruction based on the preset information.

[0106] Furthermore, when the unmanned vehicle determines that it can execute the operation instruction, it executes the related instruction. When the unmanned vehicle determines that it cannot execute the operation instruction, it can repeatedly perform the operation of collecting preset information and make judgments until the unmanned vehicle meets the execution conditions for executing the operation instruction.

[0107] In another embodiment provided by the present disclosure, in the above step S202, the "environmental information" includes at least one of the following: road surface information, terrain information and congestion information; the "current state information" includes at least one of the following: vehicle speed information and running time information;

[0108] In the above step S202, the “operation instruction” includes an acceleration instruction; “detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself” includes:

[0109] When the environmental information satisfies at least one of the following conditions: the road surface information indicates that the road surface is less than a first threshold, the current terrain slope satisfies a second threshold, and the number and distance of surrounding vehicles satisfy a non-congestion condition, and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is less than a third threshold and / or the running time is less than a fourth threshold; determine that the unmanned vehicle meets the execution conditions of the acceleration instruction; and / or

[0110] In the above step S202, the “operation instruction” includes a deceleration instruction; “detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself” includes:

[0111] When the environmental information satisfies: the current terrain slope satisfies the fifth threshold and / or the number and distance of surrounding vehicles meet the congestion condition; and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; it is determined that the unmanned vehicle meets the execution conditions of the deceleration instruction.

[0112] In the disclosed embodiment, since different operation instructions are related to environmental information and / or state information of the unmanned vehicle, for example, environmental information related to acceleration instructions and deceleration instructions may include one or more of road surface information, terrain information, and congestion information. Assuming that the road surface information indicates that the road surface is slippery, even if an acceleration instruction is received, it cannot be executed immediately. Assuming that the terrain information indicates that there is a large uphill slope on the current road ahead, even if a deceleration instruction is received, it is difficult to execute. Assuming that the congestion information indicates that the road ahead is seriously congested, even if an acceleration instruction is received, it cannot be executed immediately. The state information of the unmanned vehicle related to acceleration instructions and deceleration instructions may include: vehicle speed information and / or running time information. Assuming that the vehicle speed is close to the maximum speed, even if an acceleration instruction is received, it cannot be executed. Assuming that the running time has reached the maximum time, even if a deceleration instruction is received, it cannot continue to be executed. Here, the thresholds related to road surface information, terrain information, congestion information, vehicle speed information, and running time information can be set according to actual conditions, and are not limited here.

[0113] Therefore, when the unmanned vehicle receives the acceleration instruction, it collects the current environment information and the unmanned vehicle state information, and judges whether the current environment of the vehicle meets the conditions for executing the acceleration instruction according to at least one of the following in the environment information: the slippery degree of the road surface (used to characterize the road surface information), the terrain slope (used to characterize the terrain information) and the number and distance of the surrounding vehicles (used to characterize the congestion information). When the slippery degree of the road surface is lower than the first threshold representing the slippery degree of the road surface, and / or the current terrain slope meets the second threshold, for example: the current terrain slope represents that the upward slope of the terrain is less than the second threshold or within the second threshold range, and / or the number and distance of the vehicles around the unmanned vehicle are not identified as a congested state, then it is considered that the current environment of the unmanned vehicle meets the conditions for executing the acceleration instruction. Further, the unmanned vehicle can judge whether the state of the unmanned vehicle itself meets the conditions for executing the acceleration instruction according to the vehicle speed and / or running time in its own state information. When the current speed of the unmanned vehicle is less than the third threshold and / or the running time is less than the fourth threshold, the execution conditions of the acceleration instruction are met. In summary, when the environment in which the unmanned vehicle is located and / or the unmanned vehicle's own state information meets the conditions for executing the acceleration instruction, the unmanned vehicle executes the acceleration instruction.

[0114] Further, when the unmanned vehicle receives the deceleration instruction, it collects the current environment information and the unmanned vehicle state information, and judges whether the environment in which the current vehicle is located meets the conditions for executing the deceleration instruction according to the terrain slope in the environment information, and / or the number and distance of surrounding vehicles. The current terrain slope meets the fifth threshold, for example: the current terrain slope represents a downward slope less than the fifth threshold or within the fifth threshold range, and / or the number and distance of vehicles around the unmanned vehicle are determined to be in a congested state, then the current environment in which the unmanned vehicle is located is considered to meet the conditions for executing the deceleration instruction. Further, the unmanned vehicle can judge whether the unmanned vehicle's own state meets the conditions for executing the deceleration instruction based on the vehicle speed and / or running time in its own state information. When the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold, the execution conditions of the deceleration instruction are met. In summary, when the environment in which the unmanned vehicle is located and / or the unmanned vehicle's own state information meet the conditions for executing the deceleration instruction, the unmanned vehicle executes the deceleration instruction.

[0115] In another embodiment provided by the present disclosure, in the above step S202, the "environmental information" includes: capacity information, location information, and vehicle status information of the target energy replenishment area; the "current state information" includes the remaining energy information of the unmanned vehicle;

[0116] In the above step S202, the "operation instruction" includes: a charging instruction; "detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself", includes:

[0117] When the current state information of the unmanned vehicle satisfies the situation that the remaining energy is insufficient; and

[0118] In the case where the number of vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, or the number of vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, and according to the energy replenishment task execution status of the vehicles in the target energy replenishment zone, if the unmanned vehicle joins the target energy replenishment zone after the first period of time and the capacity limit of the target energy replenishment zone is not exceeded, it is determined that the unmanned vehicle meets the execution conditions of the energy replenishment instruction; if the capacity limit of the target energy replenishment zone is exceeded, the unmanned vehicle continues to perform the current operation task;

[0119] Among them, the first duration is the time it takes for the unmanned vehicle to start from the current position and reach the target energy replenishment area.

[0120] In the disclosed embodiment, the operation of the unmanned vehicle requires the consumption of energy, such as gasoline, electricity, gas, etc. When the energy of the unmanned vehicle is about to run out, the unmanned vehicle needs to go to the energy replenishment area for energy replenishment. The energy replenishment area can be set in a special area, and can be provided with at least one energy replenishment position. The capacity of the energy replenishment area is the number of unmanned vehicles that the energy replenishment area can accommodate, and can include the sum of the number of energy replenishment positions and the number of waiting positions waiting for energy replenishment. When the unmanned vehicle receives the energy replenishment instruction, it obtains the remaining energy situation of the unmanned vehicle itself, and determines whether an energy replenishment operation is needed based on the energy situation. When the remaining energy of the unmanned vehicle itself is lower than the preset value, the unmanned vehicle determines that it needs to perform the energy replenishment task, that is, the current state of the unmanned vehicle meets the execution of the energy replenishment instruction.

[0121] When the number of vehicles performing the recharging task in the recharging area is less than the capacity of the recharging area, the current environmental information satisfies the execution of the recharging instruction, and the unmanned vehicle can execute the recharging instruction; when the number of vehicles performing the recharging task in the recharging area is greater than or equal to the capacity of the target recharging area, the unmanned vehicle that needs to perform the recharging task determines whether it exceeds the capacity limit of the recharging area when it arrives at the recharging area after the first period of time. If it does not exceed the capacity limit, the current environmental information satisfies the execution of the recharging instruction, and it can go to the recharging area immediately; if it exceeds the capacity limit, the current environmental information does not satisfy the execution of the recharging instruction, and the current operation task can continue.

[0122] The first duration is the time it takes for the unmanned vehicle to reach the target energy replenishment area from its current position. Since the unmanned vehicle is outside the energy replenishment area when it receives the energy replenishment command, it takes a certain amount of time (i.e., the first duration) for the unmanned vehicle to reach the energy replenishment area. Although the number of vehicles currently performing energy replenishment tasks is greater than or equal to the capacity of the target energy replenishment area, some vehicles performing energy replenishment tasks may complete energy replenishment after the first duration. At this time, there will be no congestion when the unmanned vehicle arrives at the target energy replenishment area. Therefore, based on the energy replenishment task execution status of the unmanned vehicles performing energy replenishment tasks in the current energy replenishment area, it can be determined whether there is an unmanned vehicle that can complete the energy replenishment task after the first duration. If so, the current execution of the energy replenishment command by the unmanned vehicle will not only not cause congestion in the target energy replenishment area, but also make full use of the first duration and improve the utilization rate of the energy replenishment position.

[0123] Furthermore, the unmanned vehicle can obtain the capacity information, location information, and vehicle status information of the target energy replenishment zone through the cloud control platform. Taking the vehicle status information of the energy replenishment task as an example, the unmanned vehicle can obtain the energy replenishment task queue of the vehicle performing the energy replenishment task, and determine the target unmanned vehicle from the energy replenishment task queue according to the capacity c of the target energy replenishment zone and the length n of the energy replenishment task queue, so that under the premise of ensuring that the capacity of the target energy replenishment zone remains saturated, the unmanned vehicle joins the target energy replenishment zone after the target unmanned vehicle completes the energy replenishment task, and will not exceed the capacity limit of the target energy replenishment zone. During implementation, the n-c+1th unmanned vehicle in the energy replenishment task queue can be determined as the target unmanned vehicle, and the first duration is compared with the second duration of the target unmanned vehicle's replenishment completion time. If the first duration is greater than or equal to the second duration, it is determined that the current environmental information meets the execution of the energy replenishment instruction. The second duration can be the sum of the larger value of the duration of the previous unmanned vehicle of the target unmanned vehicle completing the energy replenishment task and the duration of the target unmanned vehicle traveling to the target energy replenishment zone and the duration of the target unmanned vehicle replenishing in the target energy replenishment zone. If the target unmanned vehicle is the first unmanned vehicle in the queue, the second duration can be the sum of the duration of the target unmanned vehicle traveling to the target energy replenishment area and the duration of the target unmanned vehicle replenishing energy in the target energy replenishment area. In addition, if the unmanned vehicle meets the energy replenishment instruction, the unmanned vehicle can be added to the end of the energy replenishment task queue, and the unmanned vehicle that has completed the energy replenishment task can be removed from the energy replenishment task queue.

[0124] The present disclosure provides a scheduling device for large-scale unmanned vehicle clusters. Figure 3 As shown, including:

[0125] The positioning module 301 is used to receive a box selection operation instruction for selecting a map area on the map display interface after the box selection function is triggered, and determine the first position information indicated by the box selection operation instruction; when receiving a box selection operation completion instruction, determine the second position information indicated by the box selection operation completion instruction;

[0126] The display module 302 is used to determine the target map area selected on the map display interface according to the first position information and the second position information; determine the target unmanned vehicle in the real area corresponding to the target map area, and display the information of the target unmanned vehicle at the corresponding position of the target map area;

[0127] The instruction sending module 303 is used to send operation instructions to the target unmanned vehicle.

[0128] In the disclosed embodiment, the positioning module 301 is used to receive a frame selection operation instruction for selecting a map area on a map display interface after a frame selection function is triggered, and determine the first position information indicated by the frame selection operation instruction; when receiving a frame selection operation completion instruction, determine the second position information indicated by the frame selection operation completion instruction; receive a frame selection operation instruction for selecting a map area on a map display interface, and determine the starting position information of the target map area and the frame selection process position information according to the frame selection operation instruction; when receiving a frame selection operation completion instruction, determine the end position information of the target map area; when receiving a click operation that is performed again on the first position point corresponding to the first click operation, connect the position point corresponding to the last click operation before the click operation is performed again on the first position point, and display the corresponding second line; determine the target map area framed on the map display interface according to the area enclosed by the first line and the second line.

[0129] The display module 302 is used to determine the target map area to be framed on the map display interface according to the first position information and the second position information; determine the target unmanned vehicle in the real area corresponding to the target map area, and display the information of the target unmanned vehicle at the corresponding position of the target map area; display the frame selection process of the target map area according to the starting position information and the frame selection process position information; determine and display the target map area to be framed on the map display interface according to the starting position information, the frame selection process position information and the end position information; receive multiple click operations on the map display interface, and for each click operation other than the first click operation, connect the position point corresponding to the click operation with the position point corresponding to the last click operation and display the corresponding first connection line; if an exit frame selection operation instruction is received, for the frame selection operation instruction for the unfinished target map area frame selection, delete the first position information indicated by the frame selection operation instruction; and retain the determined target map area; and display the operation instruction set corresponding to the target unmanned vehicle at a preset position on the map display interface.

[0130] The instruction sending module 303 is used to send operation instructions to the target unmanned vehicle; in response to the user's selection operation of the operation instruction in the instruction set, send the user's selected operation instruction to the target unmanned vehicle; receive feedback information about the preset control parameters after the target unmanned vehicle receives the preset control parameters; and perform abnormality detection and / or instruction correctness detection on the target unmanned vehicle based on the feedback information.

[0131] The present disclosure provides a scheduling device for large-scale unmanned vehicle clusters. Figure 4 As shown, including:

[0132] The instruction receiving module 401 is used to receive an operation instruction;

[0133] The detection module 402 is used to detect whether the execution conditions of the operation instructions are met based on the environmental information corresponding to the operation instructions and / or the current state information of the unmanned vehicle itself; if met, the operation instructions are executed; if not met, the detection of whether the execution conditions are met is repeated at preset time intervals within a preset time length until the execution conditions are met and the operation instructions are executed.

[0134] In the embodiment of the present disclosure, the instruction receiving module 401 is used to receive an operation instruction.

[0135] The detection module 402 is used to detect whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; if met, the operation instruction is executed; if not met, the detection of whether the execution condition is met is repeated at preset time intervals within a preset time length until the execution condition is met and the operation instruction is executed; when the road surface information indicates that the road surface slipperiness is less than a first threshold, the current terrain slope satisfies a second threshold, and the number and distance of surrounding vehicles meet a non-congestion condition, and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is less than a third threshold and / or the running time is less than a fourth threshold; determine that the unmanned vehicle meets the execution condition of the acceleration instruction; when the environmental information satisfies: the current terrain slope satisfies a fifth threshold and / or the number and distance of surrounding vehicles meet a congestion condition When the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is greater than or equal to the third threshold value and / or the running time is less than the fourth threshold value; it is determined that the unmanned vehicle satisfies the execution condition of the deceleration instruction; when the current state information of the unmanned vehicle satisfies the insufficient remaining energy; and when the number of vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, or the number of vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, and according to the execution status of the energy replenishment tasks of the vehicles in the target energy replenishment zone, it is determined that if the unmanned vehicle joins the target energy replenishment zone after the first period of time and does not exceed the capacity limit of the target energy replenishment zone, it is determined that the unmanned vehicle meets the execution condition of the energy replenishment instruction; if it exceeds the capacity limit of the target energy replenishment zone, the unmanned vehicle continues to perform the current operation task.

[0136] An embodiment of the present disclosure provides a device, including: a scheduling device for large-scale unmanned vehicle clusters provided by any of the above embodiments.

[0137] When the above equipment includes Figure 3 When the positioning module 301, the display module 302, and the instruction sending module 303 are shown, the device may be a cloud control platform.

[0138] When the above equipment includes Figure 4 When the instruction receiving module 401 and the detection module 402 are shown, the device may be an unmanned vehicle.

[0139] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by hardware, or by software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present disclosure.

[0140] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present disclosure.

[0141] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the present embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0142] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0143] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A scheduling method for large-scale unmanned vehicle clusters, characterized in that: include: After the box selection function is triggered, receiving a box selection operation instruction for selecting a map area on the map display interface, and determining first position information indicated by the box selection operation instruction; When receiving a box selection operation completion instruction, determining second position information indicated by the box selection operation completion instruction; Determine a target map area selected on the map display interface according to the first location information and the second location information; Determine a target unmanned vehicle in a real area corresponding to the target map area, display information of the target unmanned vehicle at a corresponding position in the target map area, and send an operation instruction to the target unmanned vehicle.

2. The method according to claim 1, characterized in that The receiving a frame selection operation instruction for selecting a map area on a map display interface, and determining first location information indicated by the frame selection operation instruction, includes: Receiving a frame selection operation instruction for selecting a map area on a map display interface, and determining the starting position information and the frame selection process position information of the target map area according to the frame selection operation instruction; Displaying the frame selection process of the target map area according to the starting position information and the frame selection process position information; The step of determining, upon receiving a box selection operation completion instruction, second location information indicated by the box selection operation completion instruction; and determining a target map area selected on the map display interface according to the first location information and the second location information, includes: When receiving a box selection operation completion instruction, determining the end position information of the target map area; According to the starting position information, the selection process position information and the ending position information, a target map area selected on the map display interface is determined and displayed.

3. The method according to claim 2, characterized in that The receiving a frame selection operation instruction for selecting a map area on a map display interface, and determining the starting position information and the frame selection process position information of the target map area according to the frame selection operation instruction; Displaying the frame selection process of the target map area according to the starting position information and the frame selection process position information includes: Receiving multiple click operations on the map display interface, and for each click operation other than the first click operation, connecting the location point corresponding to the click operation with the location point corresponding to the last click operation and displaying a corresponding first connection line; The method of determining the end position information of the target map area upon receiving the box selection operation completion instruction; and determining and displaying the target map area boxed on the map display interface according to the starting position information, the box selection process position information, and the end position information, includes: When a click operation is received again on the first location point corresponding to the first click operation, the location point corresponding to the last click operation before the click operation is performed again on the first location point will be connected to the first location point and a corresponding second line will be displayed; based on the area enclosed by the first line and the second line, the target map area selected on the map display interface is determined.

4. The method according to any one of claims 1 to 3, characterized in that: When a box selection operation instruction is received but a box selection operation completion instruction has not been received, the following further includes: If an exit box selection operation instruction is received, the first position information selected by the box selection operation instruction for the uncompleted target map area is deleted; and the determined target map area is retained.

5. The method according to claim 1, characterized in that Sending an operation instruction to the target unmanned vehicle includes: sending a preset default operation instruction to the target unmanned vehicle; and / or The method further comprises: Displaying an operation instruction set corresponding to the target unmanned vehicle at a preset position on the map display interface; Sending an operation instruction to the target unmanned vehicle includes: In response to a user selecting an operation instruction in the instruction set, the operation instruction selected by the user is sent to the target unmanned vehicle.

6. The method according to claim 1 or 5, characterized in that The control instruction carries a preset control parameter; the method further includes: Receiving feedback information of the preset control parameters fed back by the target unmanned vehicle after receiving the preset control parameters; Based on the feedback information, anomaly detection and / or instruction correctness detection are performed on the target unmanned vehicle.

7. A scheduling method for large-scale unmanned vehicle clusters, characterized in that: include: Receive operation instructions; Detecting whether an execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; If satisfied, the operation instruction is executed; If not, the detection of whether the execution condition is met is repeated at preset time intervals within a preset time length until the execution condition is met, and the operation instruction is executed.

8. The method according to claim 7, characterized in that The environmental information includes at least one of the following: road surface information, terrain information and congestion information; the current state information includes at least one of the following: vehicle speed information and running time information; The operation instruction includes an acceleration instruction; and detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself includes: When the environmental information satisfies at least one of the following conditions: the road surface information indicates that the road surface is less than a first threshold, the current terrain slope satisfies a second threshold, and the number and distance of surrounding vehicles satisfy a non-congestion condition, and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is less than a third threshold and / or the running time is less than a fourth threshold; determine that the unmanned vehicle satisfies the execution condition of the acceleration instruction; and / or The operation instruction includes a deceleration instruction; and detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself includes: When the environmental information satisfies: the current terrain slope satisfies the fifth threshold and / or the number and distance of surrounding vehicles meet the congestion condition; and when the current state information of the unmanned vehicle satisfies: the current speed of the unmanned vehicle is greater than or equal to the third threshold and / or the running time is less than the fourth threshold; it is determined that the unmanned vehicle meets the execution conditions of the deceleration instruction.

9. The method according to claim 7, characterized in that The environmental information includes: capacity information, location information, and vehicle status information of the target energy replenishment area; the current status information includes the remaining energy information of the unmanned vehicle; The operation instruction includes: a power replenishment instruction; the detecting whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself includes: When the current state information of the unmanned vehicle satisfies the situation that the remaining energy is insufficient; and In the case where the number of vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, or the number of vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, and according to the energy replenishment task execution status of the vehicles in the target energy replenishment zone, if the unmanned vehicle joins the target energy replenishment zone after a first period of time and does not exceed the capacity limit of the target energy replenishment zone, it is determined that the unmanned vehicle meets the execution condition of the energy replenishment instruction; if the capacity limit of the target energy replenishment zone is exceeded, the unmanned vehicle continues to execute the current operation task; The first duration is the duration it takes for the unmanned vehicle to depart from the current position and reach the target energy replenishment area.

10. A dispatching device for large-scale unmanned vehicle clusters, characterized in that: include: A positioning module, for receiving a frame selection operation instruction for selecting a map area on a map display interface after the frame selection function is triggered, and determining first position information indicated by the frame selection operation instruction; When receiving a box selection operation completion instruction, determining second position information indicated by the box selection operation completion instruction; A display module, configured to determine a target map area selected on the map display interface according to the first location information and the second location information; Determine a target unmanned vehicle in a real area corresponding to the target map area, and display information of the target unmanned vehicle at a corresponding position in the target map area; An instruction sending module is used to send operation instructions to the target unmanned vehicle.

11. A dispatching device for large-scale unmanned vehicle clusters, characterized in that: include: An instruction receiving module, used for receiving an operation instruction; A detection module, used to detect whether the execution condition of the operation instruction is met according to the environmental information corresponding to the operation instruction and / or the current state information of the unmanned vehicle itself; If satisfied, the operation instruction is executed; If not, the detection of whether the execution condition is met is repeated at preset time intervals within a preset time length until the execution condition is met, and the operation instruction is executed.

12. A device, characterized in that: include: A dispatching device for large-scale unmanned vehicle clusters as described in claim 10 or claim 11.

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