A dispatching method, device and cloud control platform for unmanned vehicles

Abstract

The present disclosure provides a scheduling method, device and cloud control platform for unmanned vehicles, the method comprising: when the current unmanned vehicle needs to be recharged, obtaining the number of unmanned vehicles currently performing the recharge task and the capacity of the target recharge zone; when the number of unmanned vehicles performing the recharge task is greater than or equal to the capacity of the target recharge zone, determining whether the capacity limit of the target recharge zone is exceeded if the current unmanned vehicle joins the target recharge zone after a first time period according to the recharge task execution status of the unmanned vehicles in the target recharge zone; the first time period is the time taken for the current unmanned vehicle to reach the target recharge zone from the current position; if the capacity limit is not exceeded, controlling the current unmanned vehicle to perform the recharge task; if the capacity limit is exceeded, controlling the current unmanned vehicle to continue to perform the current operation task. While not affecting the timely recharge of the unmanned vehicle, the number of unmanned vehicles queuing in the recharge zone is controlled not to be too large, thereby improving the overall operation efficiency.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned driving technology, and in particular to a dispatching method, device and cloud control platform for unmanned vehicles. Background Art

[0002] With the continuous development of technologies such as artificial intelligence, the Internet of Things, and big data, driverless technology has become a hot topic in the field of intelligent transportation. The advantages of driverless vehicles are that they can improve traffic efficiency, reduce traffic accident rates, and reduce energy consumption. However, the popularization and application of driverless vehicles face many challenges, such as coordination between vehicles, changes in road conditions, and traffic management. In order to solve these problems, driverless cluster scheduling solutions have emerged. At present, the refueling scheduling of unmanned vehicles is usually manually designated and directly sent to the unmanned vehicle, and it is often designated in batches. These unmanned vehicles go directly to the refueling at the same time, which will cause queue congestion in the refueling area, increase the refueling time, and affect the normal operation. Summary of the invention

[0003] The embodiments of the present disclosure provide a method, device and cloud control platform for dispatching an unmanned vehicle to solve the problems existing in the existing solutions.

[0004] Based on the above problems, in the first aspect, a method for dispatching an unmanned vehicle is provided, comprising:

[0005] When the current unmanned vehicle needs to be recharged, the number of unmanned vehicles currently performing the recharging task and the capacity of the target recharging area are obtained;

[0006] In the case where the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, determining whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first time period according to the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment zone; the first time period is the time taken for the current unmanned vehicle to depart from the current position and arrive at the target energy replenishment zone;

[0007] If the capacity limit is not exceeded, the current unmanned vehicle is controlled to perform the energy replenishment task; if the capacity limit is exceeded, the current unmanned vehicle is controlled to continue to perform the current operation task.

[0008] In combination with the first aspect, in a possible implementation manner, determining, based on the execution status of the energy replenishment task of the unmanned vehicle in the target energy replenishment zone, whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first period of time, includes:

[0009] According to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, the target unmanned vehicle is determined from the energy replenishment task execution queue, so that under the premise of ensuring that the capacity of the target energy replenishment zone remains saturated, the current unmanned vehicle joins the target energy replenishment zone after the target unmanned vehicle completes the energy replenishment task, and the capacity limit of the target energy replenishment zone will not be exceeded;

[0010] The energy replenishment delivery container is used to store information of unmanned vehicles that perform energy replenishment tasks in the form of a queue;

[0011] When the first time duration is greater than or equal to the second time duration for the target unmanned vehicle to complete the energy replenishment task, it is determined that the information of the current unmanned vehicle is added to the energy replenishment task execution queue, and the capacity limit of the target energy replenishment zone is not exceeded; when the first time duration is less than the second time duration for the target unmanned vehicle to complete the energy replenishment task, the capacity limit of the target energy replenishment zone is exceeded.

[0012] In combination with the first aspect, in a possible implementation, determining a target unmanned vehicle from the energy replenishment task execution queue according to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone includes:

[0013] Starting from the head of the energy replenishment task execution queue, the n-C+1th unmanned vehicle in the energy replenishment task execution queue is determined as the target unmanned vehicle; wherein n represents the length of the unmanned vehicle energy replenishment task execution queue, and C represents the capacity of the target energy replenishment area.

[0014] In combination with the first aspect, in a possible implementation manner, the second time duration for the target unmanned vehicle to complete the energy replenishment task is determined in the following manner:

[0015] In the case where the target unmanned vehicle is the head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the head unmanned vehicle to complete the energy replenishment task is the sum of the time duration for the head unmanned vehicle to travel to the target energy replenishment area and the time duration for the head unmanned vehicle to replenish energy in the target energy replenishment area;

[0016] When the target unmanned vehicle is a non-head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the non-head unmanned vehicle to complete the energy replenishment task is the sum of the third time duration and the time duration for the non-head unmanned vehicle to replenish energy in the target energy replenishment area; the third time duration is the larger value of the time duration for the previous unmanned vehicle of the non-head unmanned vehicle to complete the energy replenishment task in the energy replenishment task execution queue and the time duration for the non-head unmanned vehicle to travel to the target energy replenishment area.

[0017] In combination with the first aspect, in a possible implementation manner, the method further includes:

[0018] When the current unmanned vehicle needs to be recharged, the information of the current unmanned vehicle is added to the recharge requirement container;

[0019] Determine whether the current unmanned vehicle meets the following detection conditions: there is no return on the path from the current position of the current unmanned vehicle to the target energy replenishment area; and / or the current unmanned vehicle is in an unloaded state;

[0020] If the detection condition is met, the information of the current unmanned vehicle is deleted from the energy replenishment demand container and added to the energy replenishment to be executed container;

[0021] If the capacity limit is not exceeded, controlling the current unmanned vehicle to perform the energy replenishment task includes:

[0022] If the capacity limit is not exceeded, the current unmanned vehicle is controlled to execute the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment to-be-executed container, and is added to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0023] In combination with the first aspect, in a possible implementation manner, if the capacity limit is exceeded, the method further includes:

[0024] After the current unmanned vehicle continues to perform the current operation task and completes a preset number of operation tasks, if the current unmanned vehicle is still in the energy replenishment to be executed container, the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone are obtained again; and when the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, a judgment is made as to whether the current unmanned vehicle joins the target energy replenishment zone after a first period of time, and whether the capacity limit of the target energy replenishment zone is exceeded; and / or

[0025] If the capacity limit is exceeded, the method further includes:

[0026] Whether the current unmanned vehicle meets the detection condition is judged at a preset time interval. If it is determined that the current unmanned vehicle does not meet the detection condition at any time, the information of the current unmanned vehicle is deleted from the energy replenishment waiting container and added to the energy replenishment demand container.

[0027] In combination with the first aspect, in a possible implementation manner, the method further includes:

[0028] When the current unmanned vehicle completes the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment delivery container.

[0029] In combination with the first aspect, in a possible implementation manner, before obtaining the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone, the method further includes:

[0030] Determine whether the current remaining energy of the current unmanned vehicle in the energy replenishment waiting container meets the need for continued operation;

[0031] The obtaining of the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area includes:

[0032] Under the condition that the current unmanned vehicle can meet the demand for continued operation, the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area are obtained;

[0033] The method further comprises:

[0034] When the current unmanned vehicle cannot meet the demand for continued operation, the current unmanned vehicle is controlled to perform the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment to be executed container, and is added to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0035] In combination with the first aspect, in a possible implementation manner, the method further includes:

[0036] When the number of the unmanned vehicles that perform the energy replenishment task is less than the capacity of the target energy replenishment zone, controlling the current unmanned vehicle to perform the energy replenishment task; and

[0037] Determine the execution status of the energy replenishment tasks of the unmanned vehicles in the current energy replenishment task execution queue;

[0038] When all the unmanned vehicles in the current energy replenishment task execution queue have reached the target energy replenishment area, adding the information of the current unmanned vehicle to the end of the energy replenishment task execution queue;

[0039] In the case where there is at least one unmanned vehicle in the current energy replenishment task execution queue that has not yet arrived at the target energy replenishment zone, respectively determining a remaining time for the at least one unmanned vehicle to arrive at the target energy replenishment zone and a fourth time for the current unmanned vehicle to arrive at the target energy replenishment zone;

[0040] At least one remaining time duration and the fourth time duration are sorted, and the information of the current unmanned vehicle is added to the corresponding position in the energy replenishment task execution queue, so that the closer the energy replenishment task execution queue is to the head position, the shorter the time it takes for the corresponding unmanned vehicle to reach the target energy replenishment area.

[0041] In combination with the first aspect, in a possible implementation manner, the capacity of the target energy replenishment zone is determined in the following manner:

[0042] Determine the energy replenishment strategy currently used; the energy replenishment strategy is used to indicate the energy replenishment area used and the capacity of the corresponding energy replenishment area;

[0043] According to the energy replenishment strategy, the location of the target energy replenishment area and the capacity of the target energy replenishment area are determined.

[0044] In a second aspect, a dispatching device for an unmanned vehicle is provided, comprising:

[0045] An information acquisition module is used to obtain the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area when the current unmanned vehicle needs to be recharged;

[0046] A comprehensive analysis module is used to determine, when the number of the unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first time period, according to the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment zone; the first time period is the time taken for the current unmanned vehicle to arrive at the target energy replenishment zone from the current position;

[0047] The scheduling decision module is used to control the current unmanned vehicle to perform the energy replenishment task if the capacity limit is not exceeded; if the capacity limit is exceeded, control the current unmanned vehicle to continue to perform the current operation task.

[0048] In a third aspect, a cloud control platform is provided, comprising: a dispatching device for an unmanned vehicle as described in the second aspect.

[0049] The beneficial effects of the embodiments of the present disclosure include:

[0050] The disclosed embodiment provides a scheduling method, device and cloud control platform for unmanned vehicles, which are applied to the field of unmanned driving to make a series of judgments on whether unmanned vehicles with energy replenishment needs need to immediately set out to the energy replenishment area, reduce congestion in the energy replenishment area and improve energy replenishment efficiency. The disclosed embodiment is applicable to all unmanned vehicles participating in the operation. When an unmanned vehicle needs energy replenishment, the number of unmanned vehicles currently performing energy replenishment tasks and the capacity of the target energy replenishment area are obtained, and when the number of unmanned vehicles currently performing energy replenishment tasks is greater than or equal to the capacity of the target energy replenishment area, according to the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment area, it is determined whether the current unmanned vehicle will exceed the capacity limit of the target energy replenishment area after the first period of time if the current unmanned vehicle immediately performs the energy replenishment task. If it does not exceed the capacity limit, the current unmanned vehicle can immediately perform the energy replenishment task, which can avoid congestion caused by too many unmanned vehicles queuing in the target energy replenishment area. If it exceeds the capacity limit, the current unmanned vehicle continues to perform the current operation task. Whether the current unmanned vehicle joining the target energy replenishment zone after the first period of time will exceed the capacity limit of the target energy replenishment zone is used to determine whether the current unmanned vehicle can immediately perform the energy replenishment task, and then control the number of unmanned vehicles in the target energy replenishment zone, while not affecting the timely energy replenishment of the unmanned vehicles, and improving the overall operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 One of the flow charts of a method for dispatching an unmanned vehicle provided in an embodiment of the present disclosure;

[0052] Figure 2 A second flowchart of a method for dispatching an unmanned vehicle provided in an embodiment of the present disclosure;

[0053] Figure 3 One of the schematic diagrams of a dispatching device for an unmanned vehicle provided in an embodiment of the present disclosure;

[0054] Figure 4 A second schematic diagram of a dispatching device for an unmanned vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0055] The embodiments of the present disclosure provide a method, device and cloud control platform for dispatching an unmanned vehicle. 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.

[0056] The present disclosure provides a method for dispatching an unmanned vehicle. Figure 1 As shown, including:

[0057] S101. When the current unmanned vehicle needs to be recharged, the number of unmanned vehicles currently performing the recharging task and the capacity of the target recharging area are obtained;

[0058] S102: When the number of unmanned vehicles executing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, determine whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first time period, based on the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment zone; the first time period is the time it takes for the current unmanned vehicle to depart from the current position and arrive at the target energy replenishment zone;

[0059] S103. If the capacity limit is not exceeded, the current unmanned vehicle is controlled to perform the energy replenishment task; if the capacity limit is exceeded, the current unmanned vehicle is controlled to continue to perform the current operation task.

[0060] In the embodiment of the present disclosure, the unmanned vehicle scheduling method provided by the present disclosure solves the problem of energy replenishment scheduling during the complete operation process of the unmanned vehicle, determines whether the current unmanned vehicle that has energy replenishment demand goes to replenish energy, and reduces the energy replenishment queue without affecting the timely energy replenishment of the unmanned vehicle, avoids congestion in the energy replenishment area, and increases operation efficiency.

[0061] In the disclosed embodiment, the operation of the unmanned vehicle requires 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.

[0062] Since the unmanned vehicle has not yet reached the target energy replenishment area when it needs to recharge, and it may take a certain amount of time to reach the target energy replenishment area (depending on the distance between the unmanned vehicle and the target energy replenishment area), and since the unmanned vehicle that is recharging in the target energy replenishment area will leave the target energy replenishment area after completing the recharging, in order to make full use of the recharging position without causing congestion, the time it takes for the unmanned vehicle to reach the target energy replenishment area can be taken into consideration. Assuming that the unmanned vehicle sets out for the recharging area immediately, from the time the unmanned vehicle arrives at the target energy replenishment area, if there is an unmanned vehicle in the target energy replenishment area that completes the recharging and leaves, it is possible to fully utilize the recharging position without causing congestion. Therefore, when the current unmanned vehicle has a demand for energy replenishment, the number of unmanned vehicles that are currently performing the energy replenishment task and the capacity of the target energy replenishment zone can be obtained; then, when the number of unmanned vehicles that are currently performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, it is determined whether the current unmanned vehicle will exceed the capacity limit of the target energy replenishment zone when it departs from the current position and arrives at and joins the target energy replenishment zone; if the capacity limit is exceeded, congestion will be caused, so the time it takes for the current unmanned vehicle to arrive at the target energy replenishment zone from the current position is used to judge whether the current unmanned vehicle can immediately perform the energy replenishment task, and it is determined that if the current unmanned vehicle joins the target energy replenishment zone after a first period of time and does not exceed the capacity limit, the current unmanned vehicle is controlled to perform the energy replenishment task.

[0063] The scheduling method provided by the embodiment of the present disclosure can be executed by an execution entity with a scheduling function, such as a cloud control platform. In one possible implementation, the unmanned vehicle can send a request for energy replenishment to the execution entity when energy replenishment is needed, and the execution entity performs scheduling based on the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area. Among them, the unmanned vehicle currently performing the energy replenishment task can be an unmanned vehicle that has been determined by the execution entity to be able to perform the energy replenishment task. After determining that the unmanned vehicle can perform the energy replenishment task, the unmanned vehicle immediately departs from the current position and heads to the target energy replenishment area.

[0064] In another embodiment provided by the present disclosure, the above S102, based on the execution status of the energy replenishment task of the unmanned vehicle in the target energy replenishment zone, determines whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after the first period of time, which can be implemented as follows:

[0065] Step 1: According to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, the target unmanned vehicle is determined from the energy replenishment task execution queue, so that under the premise of ensuring that the capacity of the target energy replenishment zone remains saturated, the current unmanned vehicle joins the target energy replenishment zone after the target unmanned vehicle completes the energy replenishment task, and does not exceed the capacity limit of the target energy replenishment zone;

[0066] Among them, the energy replenishment delivery container is used to store the information of the unmanned vehicle performing the energy replenishment task in the form of a queue;

[0067] Step 2: When the first time duration is greater than or equal to the second time duration for the target unmanned vehicle to complete the energy replenishment task, determine to add the information of the current unmanned vehicle to the energy replenishment task execution queue, and the capacity limit of the target energy replenishment zone is not exceeded; when the first time duration is less than the second time duration for the target unmanned vehicle to complete the energy replenishment task, the capacity limit of the target energy replenishment zone is exceeded.

[0068] In the disclosed embodiment, in order to facilitate the control and management of the unmanned vehicles that perform the energy replenishment tasks, an energy replenishment distribution container can be pre-set to store the information of the unmanned vehicles that perform the energy replenishment tasks in the form of a queue, that is, the energy replenishment task execution queue. When the capacity of the target energy replenishment area is saturated, the information of the unmanned vehicles that perform the energy replenishment tasks can be stored in the energy replenishment task execution queue in a first-in-first-out manner. In other words, the information of the unmanned vehicles is stored in the energy replenishment task execution queue in the order in which the corresponding unmanned vehicles perform the energy replenishment tasks, and the unmanned vehicles also queue up to perform the energy replenishment tasks in the order of the energy replenishment task execution queue. Similarly, the unmanned vehicle at the head of the queue will complete the energy replenishment task first and be deleted from the queue.

[0069] In order to ensure that the capacity of the target energy replenishment zone remains saturated and does not cause congestion, it is necessary to accurately determine the target unmanned vehicle from the energy replenishment task execution queue so that the current unmanned vehicle can join 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 target unmanned vehicle can be first determined based on the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, and the second time duration for the target unmanned vehicle to complete the energy replenishment task can be calculated. Then, whether the first time duration is greater than or equal to the second time duration for the target unmanned vehicle to complete the energy replenishment task can be determined to determine whether the capacity limit will be exceeded if the current unmanned vehicle joins the target energy replenishment zone after the first time duration. If the first time duration is greater than or equal to the second time duration for the target unmanned vehicle to complete the energy replenishment task, when the current unmanned vehicle joins the target energy replenishment zone after the first time duration, the target unmanned vehicle and the unmanned vehicle in front of the target unmanned vehicle in the queue have completed the energy replenishment task and left the target energy replenishment zone. Therefore, the current unmanned vehicle joining the target energy replenishment zone at this time will not exceed the capacity limit of the target energy replenishment zone. Similarly, if the first time duration is less than the second time duration for the target unmanned vehicle to complete the energy replenishment task, when the current unmanned vehicle joins the target energy replenishment zone after the first time duration, it will exceed the capacity limit of the target energy replenishment zone.

[0070] In another embodiment provided by the present disclosure, the above step 1, determining the target unmanned vehicle from the energy replenishment task execution queue according to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, can be implemented as follows:

[0071] Step 1: Starting from the head of the energy replenishment task execution queue, determine the n-C+1th unmanned vehicle in the energy replenishment task execution queue as the target unmanned vehicle; wherein n represents the length of the unmanned vehicle energy replenishment task execution queue, and C represents the capacity of the target energy replenishment area.

[0072] In the embodiment of the present disclosure, because the current unmanned vehicle needs to immediately perform the energy replenishment task after adding the energy replenishment delivery container, it is necessary to determine whether the length of the energy replenishment task execution queue is not greater than the capacity of the target energy replenishment zone when the current unmanned vehicle immediately sets out and arrives at the target energy replenishment zone. If this condition is to be met, a target unmanned vehicle must be determined using the relationship between the length of the unmanned vehicle energy replenishment execution queue and the capacity of the target energy replenishment zone. The target unmanned vehicle satisfies the following conditions: when the target unmanned vehicle completes the energy replenishment task, the vehicle in front of the target unmanned vehicle has completed the energy replenishment task and is deleted from the energy replenishment task execution queue, thereby ensuring that when the current unmanned vehicle joins the target energy replenishment zone, the capacity of the target energy replenishment zone can be kept saturated without exceeding the capacity limit of the target energy replenishment zone.

[0073] Taking n as the length of the unmanned vehicle recharging task execution queue, C as the capacity of the target recharging zone, and X as the target unmanned vehicle as an example, in order to ensure that the queue length does not exceed the capacity of the target recharging zone when the current unmanned vehicle joins the recharging task execution queue, the following inequality should be satisfied:

[0074] C>nX

[0075] So, X>nC

[0076] And because X is an integer, the minimum value of X that satisfies the condition is n-C+1.

[0077] Therefore, the target unmanned vehicle in the energy replenishment task execution queue that meets the conditions can be the n-C+1th unmanned vehicle in the queue.

[0078] In another embodiment provided by the present disclosure, the second time duration for the target unmanned vehicle to complete the energy replenishment task is determined in the following manner:

[0079] Step 1: When the target unmanned vehicle is the first unmanned vehicle in the energy replenishment task execution queue, the second time duration for the first unmanned vehicle to complete the energy replenishment task is the sum of the time duration for the first unmanned vehicle to travel to the target energy replenishment area and the time duration for the first unmanned vehicle to replenish energy in the target energy replenishment area;

[0080] Step 2. When the target unmanned vehicle is a non-head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the non-head unmanned vehicle to complete the energy replenishment task is the sum of the third time duration and the time duration for the non-head unmanned vehicle to replenish energy in the target energy replenishment area; the third time duration is the larger value of the time duration for the previous unmanned vehicle of the non-head unmanned vehicle to complete the energy replenishment task in the energy replenishment task execution queue and the time duration for the non-head unmanned vehicle to travel to the target energy replenishment area.

[0081] In the embodiment of the present disclosure, there are two ways to calculate the second duration of the target unmanned vehicle to complete the energy replenishment task based on the current unmanned vehicle:

[0082] The first case is that the target unmanned vehicle is the first unmanned vehicle in the energy replenishment task execution queue. At this time, there is no vehicle in front of the target unmanned vehicle, and it does not need to wait for the vehicle in front to complete the energy replenishment task. Therefore, the second time for the target unmanned vehicle to complete the energy replenishment task does not need to consider the time for the vehicle in front to complete the energy replenishment task. The second time for the target unmanned vehicle to complete the energy replenishment task is the sum of the time it takes for the first unmanned vehicle in the team to drive to the target energy replenishment area and the time it takes for the first unmanned vehicle in the team to replenish energy in the target energy replenishment area.

[0083] The second situation is that the target unmanned vehicle is a non-team-leading unmanned vehicle in the energy replenishment task execution queue. At this time, there is a vehicle in front of the target unmanned vehicle, and it needs to wait for the vehicle in front to complete the energy replenishment task. Therefore, the second time length for the target unmanned vehicle to complete the energy replenishment task needs to consider the time for the vehicle in front to complete the energy replenishment task. When the time length for the previous unmanned vehicle of the non-team-leading unmanned vehicle to complete the energy replenishment task is longer than the time length for the non-team-leading unmanned vehicle to travel to the target energy replenishment area, the non-team-leading unmanned vehicle arrives at the target energy replenishment area first, and then waits for the previous unmanned vehicle of the non-team-leading unmanned vehicle to complete the energy replenishment task before entering the target energy replenishment area. Therefore, the second time length The first time length is the sum of the time it takes for the previous unmanned vehicle of the non-team leader to complete the energy replenishment task and the time it takes for the non-team leader to replenish energy in the target energy replenishment area; when the time it takes for the non-team leader to travel to the target energy replenishment area is longer than the time it takes for the previous unmanned vehicle of the non-team leader to complete the energy replenishment task, the previous unmanned vehicle of the non-team leader completes the energy replenishment task first, and then the non-team leader arrives at the target energy replenishment area and can directly enter the target energy replenishment area without waiting, so the second time length is the sum of the time it takes for the non-team leader to travel to the target energy replenishment area and the time it takes for the non-team leader to replenish energy in the target energy replenishment area. In summary, when the target unmanned vehicle is a non-team leader in the energy replenishment task execution queue, the second time length of the target unmanned vehicle to complete the energy replenishment task is the larger value of the time it takes for the previous unmanned vehicle of the non-team leader to complete the energy replenishment task and the time it takes for the non-team leader to travel to the target energy replenishment area, plus the time it takes for the non-team leader to replenish energy in the target energy replenishment area.

[0084] In the embodiment of the present disclosure, the second time duration t of the target unmanned vehicle to complete the energy replenishment task is calculated. n-C+1 The specific calculation formulas for the two cases are as follows:

[0085] If n-C+1=1, the target unmanned vehicle, that is, the n-C+1th unmanned vehicle, is the first unmanned vehicle in the queue and does not need to wait for the preceding vehicle to recharge. Then:

[0086] t n-C+1 =T n-C+1 +tr n-C+1

[0087] Among them, T n-C+1 is the time it takes for the n-C+1th unmanned vehicle to reach the target energy replenishment area, tr n-C+1 It is the recharging time of the n-C+1th unmanned vehicle.

[0088] If n-C+1>1, the target unmanned vehicle, that is, the n-C+1th unmanned vehicle, is a non-head unmanned vehicle in the queue, and needs to be calculated based on the energy replenishment completion time of the preceding vehicle, then:

[0089] t n-C+1 =t n-C +tr n-C+1 or

[0090] t n-C+1 =T n-C+1 +tr n-C+1

[0091] Among them, t n-C is the energy replenishment completion time of the previous unmanned vehicle of the n-C+1th unmanned vehicle, T n-C+1 is the time it takes for the n-C+1th unmanned vehicle to reach the target energy replenishment area, tr n-C+1 It is the recharging time of the n-C+1th unmanned vehicle.

[0092] In another embodiment provided by the present disclosure, the above method further includes the following steps:

[0093] Step 1: When the current unmanned vehicle needs to be recharged, the information of the current unmanned vehicle is added to the recharge demand container;

[0094] Step 2: Determine whether the current unmanned vehicle meets the following detection conditions: there is no return on the path from the current position of the current unmanned vehicle to the target energy replenishment area; and / or the current unmanned vehicle is in an unloaded state;

[0095] Step 3: If the above detection conditions are met, the information of the current unmanned vehicle is deleted from the energy replenishment demand container and added to the energy replenishment waiting container.

[0096] In the above S103, if the capacity limit is not exceeded, the current unmanned vehicle is controlled to perform the energy replenishment task, which can be implemented as follows:

[0097] Step 1: If the capacity limit is not exceeded, the current unmanned vehicle is controlled to execute the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment waiting container, and added to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0098] In the disclosed embodiment, for each current unmanned vehicle that generates energy replenishment demand, its information is first added to the energy replenishment demand container, and then it is determined whether the current unmanned vehicle meets the path without return and / or is in an empty state, and can go directly to the target energy replenishment area. If it can go directly to the target energy replenishment area, the information of the current unmanned vehicle is deleted from the energy replenishment demand container and added to the energy replenishment waiting container. Then, the unmanned vehicles in the energy replenishment waiting container are judged. If the current unmanned vehicle meets the requirement that the current unmanned vehicle joins the target energy replenishment area after a first period of time and does not exceed the capacity limit of the target energy replenishment area, the current unmanned vehicle is controlled to immediately execute the energy replenishment task, and its information is added to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0099] In another embodiment provided by the present disclosure, following the above step 1, if the capacity limit is exceeded, the above method further includes the following steps:

[0100] Step 2: After the current unmanned vehicle continues to perform the current operation task and completes a preset number of operation tasks, if the current unmanned vehicle is still in the energy replenishment waiting container, the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone are obtained again; and when the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, a judgment is made as to whether the current unmanned vehicle joins the target energy replenishment zone after a first period of time and exceeds the capacity limit of the target energy replenishment zone; and / or,

[0101] If the capacity limit is exceeded, the method further includes the following steps:

[0102] Step 3: Determine whether the current unmanned vehicle meets the above detection conditions at preset time intervals. If it is determined that the current unmanned vehicle does not meet the above detection conditions at any time, delete the information of the current unmanned vehicle from the energy replenishment waiting container and add it to the energy replenishment demand container.

[0103] In the disclosed embodiment, according to the execution of the energy replenishment task of the unmanned vehicle in the target energy replenishment area, if the current unmanned vehicle joins the target energy replenishment area after the first time period, the current unmanned vehicle that exceeds the capacity limit of the target energy replenishment area can continue to be monitored to determine the container where it should be located. In other words, the current unmanned vehicle can continue to perform the current operation task, and after completing the preset number of operation tasks, it is judged again whether it can enter the energy replenishment and delivery container, that is, immediately execute the energy replenishment task. However, this judgment is for the unmanned vehicle in the energy replenishment container to be executed. Since the vehicle may move while continuing to perform the current operation task, if during the movement, it changes from satisfying the above detection conditions to not satisfying the above detection conditions (that is, there is no return on the path of the current unmanned vehicle from the current position to the target energy replenishment area; and / or the current unmanned vehicle is in an unloaded state), the current unmanned vehicle cannot continue to exist in the energy replenishment container to be executed, but will enter the energy replenishment demand container, and then enter the energy replenishment container after the above detection conditions are met, and further judge whether it can enter the energy replenishment and delivery container.

[0104] In another embodiment provided by the present disclosure, the above method further includes the following steps:

[0105] When the current unmanned vehicle completes the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment delivery container.

[0106] In the embodiment of the present disclosure, in order not to affect the number of unmanned vehicles in the current energy replenishment task execution queue obtained during the scheduling process, for the unmanned vehicles that have completed the energy replenishment task, their information is deleted from the energy replenishment task execution queue of the energy replenishment delivery container.

[0107] In another embodiment provided by the present disclosure, before executing the above step S101 and obtaining the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area, the following steps are also included:

[0108] Step 1: Determine whether the current remaining energy of the current unmanned vehicle in the energy replenishment waiting container meets the need to continue working;

[0109] The above method of obtaining the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area can be implemented as follows:

[0110] Step 2: Under the condition that the current unmanned vehicle can meet the demand for continued operation, the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area are obtained;

[0111] The above method further comprises the following steps:

[0112] Step 3: When the current unmanned vehicle cannot meet the demand for continued operation, control the current unmanned vehicle to perform the energy replenishment task, delete the information of the current unmanned vehicle from the energy replenishment waiting container, and add it to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0113] In the disclosed embodiment, before obtaining the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone, it is also necessary to determine whether the current remaining energy of the current unmanned vehicle in the energy replenishment to be executed container meets the demand for continued operation. If the current remaining energy of the current unmanned vehicle meets the demand for continued operation, the subsequent steps such as obtaining the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone are performed normally. If the current remaining energy of the current unmanned vehicle does not meet the demand for continued operation, the remaining energy is too little to support the unmanned vehicle to continue the operation task, then the current unmanned vehicle is required to immediately perform the energy replenishment task, and at the same time, the information of the current unmanned vehicle is deleted from the energy replenishment to be executed container, and added to the energy replenishment task execution queue corresponding to the energy replenishment issuing container.

[0114] In another embodiment provided by the present disclosure, the above method further includes the following steps:

[0115] Step 1: When the number of unmanned vehicles executing the energy replenishment task is less than the capacity of the target energy replenishment zone, the current unmanned vehicle is controlled to execute the energy replenishment task; and the energy replenishment task execution status of the unmanned vehicles in the current energy replenishment task execution queue is determined;

[0116] Step 2: When all the unmanned vehicles in the current energy replenishment task execution queue have reached the target energy replenishment area, the information of the current unmanned vehicle is added to the end of the energy replenishment task execution queue;

[0117] Step 3: If there is at least one unmanned vehicle in the current energy replenishment task execution queue that has not yet reached the target energy replenishment area, determine the remaining time for at least one unmanned vehicle to reach the target energy replenishment area and the fourth time for the current unmanned vehicle to reach the target energy replenishment area;

[0118] Step 4: Sort at least one remaining duration and the fourth duration, and add the information of the current unmanned vehicle to the corresponding position in the energy replenishment task execution queue, so that the closer the energy replenishment task execution queue is to the head position, the shorter the time it takes for the corresponding unmanned vehicle to reach the target energy replenishment area.

[0119] In the disclosed embodiment, since the number of unmanned vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, the current unmanned vehicle will immediately perform the energy replenishment task. Since the position of each unmanned vehicle is different, the time it takes to reach the target energy replenishment zone is also different, resulting in a difference between the order in which the unmanned vehicles join the energy replenishment task execution queue and the energy replenishment queue order in the actual execution of the energy replenishment task. Therefore, it is necessary to adjust the queue order of some unmanned vehicles that immediately perform the energy replenishment task when the number of unmanned vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, so that it conforms to the order in which the unmanned vehicles perform energy replenishment during the actual execution of the energy replenishment task, that is, the unmanned vehicle that arrives at the target energy replenishment zone first performs the energy replenishment task first.

[0120] Therefore, for each current unmanned vehicle that immediately performs the energy replenishment task when the number of unmanned vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, the energy replenishment task execution status of the unmanned vehicles in the current energy replenishment task execution queue is determined when the unmanned vehicle starts to perform the energy replenishment task. If all the unmanned vehicles in the current energy replenishment task execution queue have reached the target energy replenishment zone, the current unmanned vehicle is the last unmanned vehicle in the queue to be recharged, so the information of the current unmanned vehicle is added to the end of the energy replenishment task execution queue. If there is at least one unmanned vehicle in the current energy replenishment task execution queue that has not yet reached the target energy replenishment zone, it is necessary to determine the order in which the unmanned vehicles in the current energy replenishment task execution queue that have not yet reached the target energy replenishment zone and the current unmanned vehicle arrive at the target energy replenishment zone. Therefore, according to the remaining time for the unmanned vehicles that have not yet reached the target energy replenishment zone to reach the target energy replenishment zone and the fourth time for the current unmanned vehicle to immediately depart and reach the target energy replenishment zone, the at least one unmanned vehicle that has not yet reached the target energy replenishment zone and the current unmanned vehicle are correctly sorted in order from small to large.

[0121] In another embodiment provided by the present disclosure, the capacity of the target energy replenishment zone is determined in the following manner:

[0122] Step 1: Determine the energy replenishment strategy currently used; the energy replenishment strategy is used to indicate the energy replenishment area to be used and the capacity of the corresponding energy replenishment area;

[0123] Step 2: According to the energy replenishment strategy, determine the location and capacity of the target energy replenishment area.

[0124] In the embodiment of the present disclosure, three energy replenishment strategies can be provided:

[0125] Energy replenishment priority strategy: Energy supply vehicles have higher resource priority and the replenishment time is urgent. The energy replenishment priority strategy is selected, and more vehicles are queued for energy replenishment at the same time; Operation priority strategy: Energy supply vehicles have ample stop time. The operation priority strategy is selected to give priority to meeting production needs, and the number of vehicles queued for energy replenishment is smaller; Balanced strategy: Take into account both operation efficiency and energy replenishment efficiency.

[0126] In the embodiment of the present disclosure, a possible implementation method of a dispatching method for an unmanned vehicle is provided, such as Figure 2 As shown, the specific process is:

[0127] S201, determining an energy replenishment strategy to be adopted by the vehicle;

[0128] S202, when an unmanned vehicle needs to be recharged, its information is added to the recharge demand container;

[0129] S203, determining whether the current unmanned vehicle meets the following detection conditions: the path from the current position of the current unmanned vehicle to the target energy replenishment area does not have a turnaround; and / or the current unmanned vehicle is in an unloaded state; if the above detection conditions are met, proceed to step S204; otherwise, the current unmanned vehicle continues to perform the current operation task, and after completing the preset number of operation tasks, continues to execute step S203;

[0130] S204, deleting the information of the current unmanned vehicle from the energy replenishment demand container, and adding it to the energy replenishment pending container;

[0131] S205, determining whether the current remaining energy of the unmanned vehicle is less than a threshold value, if so, executing step S209, if not, executing step S206;

[0132] S206, determining the number of vehicles n in the current energy replenishment task execution queue and the capacity C of the target energy replenishment zone, if n<C, executing step S209, if n≥C, executing step S207;

[0133] S207, calculate the first time duration T0 of the current unmanned vehicle arriving at the target energy replenishment zone and the target unmanned vehicle's energy replenishment completion time t n-C+1 ; Determine whether the time it takes for the current unmanned vehicle to reach the target energy replenishment zone is greater than or equal to the target unmanned vehicle's energy replenishment completion time. If so, execute step S209; if less, execute step S208;

[0134] S208, the current unmanned vehicle continues to perform the current operation task. After the current unmanned vehicle continues to perform the current operation task and completes the preset number of operation tasks, the current unmanned vehicle in the energy replenishment waiting container continues to be tested to see whether it meets the above detection conditions. If the above detection conditions are not met, the process proceeds to step S202; if the current unmanned vehicle is still in the energy replenishment waiting container, the process proceeds to step S205;

[0135] S209, the current unmanned vehicle immediately performs the energy replenishment task and adds its information to the queue corresponding to the energy replenishment delivery container;

[0136] S210: The current unmanned vehicle completes energy replenishment and is deleted from the energy replenishment delivery container.

[0137] Based on the same public concept, the embodiments of the present disclosure also provide a dispatching device and a cloud control platform for an unmanned vehicle. Since the principles of the problems solved by these devices and the cloud control platform are similar to those of the aforementioned dispatching method for an unmanned vehicle, the implementation of the device and the cloud control platform can refer to the implementation of the aforementioned method, and the repeated parts will not be repeated.

[0138] With the above Figure 1 Corresponding to the method shown, the embodiment of the present disclosure also provides a dispatching device for an unmanned vehicle, such as Figure 3 As shown, including:

[0139] The information acquisition module 301 is used to obtain the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area when the current unmanned vehicle needs energy replenishment;

[0140] The comprehensive analysis module 302 is used to determine, when the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first time period, according to the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment zone; the first time period is the time period for the current unmanned vehicle to depart from the current position and arrive at the target energy replenishment zone;

[0141] The scheduling decision module 303 is used to control the current unmanned vehicle to perform the energy replenishment task if the capacity limit is not exceeded; if the capacity limit is exceeded, control the current unmanned vehicle to continue to perform the current operation task.

[0142] In another embodiment provided by the present disclosure, the comprehensive analysis module 302 is used to determine the target unmanned vehicle from the energy replenishment task execution queue according to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, so that under the premise of ensuring that the capacity of the target energy replenishment zone remains saturated, the current unmanned vehicle joins the target energy replenishment zone after the target unmanned vehicle completes the energy replenishment task, and the capacity limit of the target energy replenishment zone will not be exceeded;

[0143] Among them, the energy replenishment delivery container is used to store the information of the unmanned vehicle performing the energy replenishment task in the form of a queue;

[0144] When the first time duration is greater than or equal to the second time duration for the target unmanned vehicle to complete the energy replenishment task, it is determined that the information of the current unmanned vehicle is added to the energy replenishment task execution queue, and the capacity limit of the target energy replenishment zone is not exceeded; when the first time duration is less than the second time duration for the target unmanned vehicle to complete the energy replenishment task, the capacity limit of the target energy replenishment zone is exceeded.

[0145] In another embodiment provided by the present disclosure, the above-mentioned comprehensive analysis module 302 is used to determine the n-C+1th unmanned vehicle in the energy replenishment task execution queue as the target unmanned vehicle, starting from the head of the energy replenishment task execution queue; wherein n represents the length of the unmanned vehicle energy replenishment task execution queue, and C represents the capacity of the target energy replenishment area.

[0146] In another embodiment provided by the present disclosure, the comprehensive analysis module 302 is used for, when the target unmanned vehicle is the head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the head unmanned vehicle to complete the energy replenishment task is the sum of the time duration for the head unmanned vehicle to travel to the target energy replenishment area and the time duration for the head unmanned vehicle to replenish energy in the target energy replenishment area;

[0147] When the target unmanned vehicle is a non-head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the non-head unmanned vehicle to complete the energy replenishment task is the sum of the third time duration and the time duration for the non-head unmanned vehicle to replenish energy in the target energy replenishment area; the third time duration is the larger value of the time duration for the previous unmanned vehicle of the non-head unmanned vehicle to complete the energy replenishment task in the energy replenishment task execution queue and the time duration for the non-head unmanned vehicle to travel to the target energy replenishment area.

[0148] In another embodiment provided by the present disclosure, the information acquisition module 301 is further used to add the information of the current unmanned vehicle to the energy replenishment demand container when the current unmanned vehicle needs energy replenishment;

[0149] Determine whether the current unmanned vehicle meets the following detection conditions: the path from the current position of the current unmanned vehicle to the target energy replenishment area does not have a return; and / or the current unmanned vehicle is in an unloaded state;

[0150] If the detection conditions are met, the information of the current unmanned vehicle is deleted from the energy replenishment demand container and added to the energy replenishment waiting container;

[0151] The comprehensive analysis module 302 is used to: if the capacity limit is not exceeded, control the current unmanned vehicle to execute the energy replenishment task, delete the information of the current unmanned vehicle from the energy replenishment to be executed container, and add it to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0152] In another embodiment provided by the present disclosure, if the capacity limit is exceeded, the comprehensive analysis module 302 is further used to: when the current unmanned vehicle continues to perform the current operation task and completes a preset number of operation tasks, if the current unmanned vehicle is still in the energy replenishment to be executed container, then the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone are obtained again; and when the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, it is determined whether the current unmanned vehicle joins the target energy replenishment zone after a first period of time, and whether the capacity limit of the target energy replenishment zone is exceeded; and / or,

[0153] If the capacity limit is exceeded, the comprehensive analysis module 302 is also used to: determine whether the current unmanned vehicle meets the detection conditions according to a preset time interval, and if it is determined that the current unmanned vehicle does not meet the detection conditions at any time, delete the information of the current unmanned vehicle from the energy replenishment waiting container and add it to the energy replenishment demand container.

[0154] In another embodiment provided by the present disclosure, the above-mentioned scheduling decision module 303 is also used to: when the current unmanned vehicle completes the energy replenishment task, delete the information of the current unmanned vehicle from the energy replenishment delivery container.

[0155] In another embodiment provided by the present disclosure, the information acquisition module 301 is further used to: determine whether the current remaining energy of the current unmanned vehicle in the energy replenishment waiting container meets the demand for continued operation; if the current unmanned vehicle can meet the demand for continued operation, obtain the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area;

[0156] The information acquisition module 301 is also used to: when the current unmanned vehicle cannot meet the demand for continued operation, control the current unmanned vehicle to perform the energy replenishment task, delete the information of the current unmanned vehicle from the energy replenishment to be executed container, and add it to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

[0157] In another embodiment provided by the present disclosure, the comprehensive analysis module 302 is further used to: when the number of unmanned vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, control the current unmanned vehicle to perform the energy replenishment task; and determine the energy replenishment task execution status of the unmanned vehicles in the current energy replenishment task execution queue;

[0158] When all the unmanned vehicles in the current energy replenishment task execution queue have reached the target energy replenishment area, the information of the current unmanned vehicle is added to the end of the energy replenishment task execution queue;

[0159] When there is at least one unmanned vehicle in the current energy replenishment task execution queue that has not yet reached the target energy replenishment area, the remaining time for at least one unmanned vehicle to reach the target energy replenishment area and a fourth time for the current unmanned vehicle to reach the target energy replenishment area are determined respectively; at least one remaining time and the fourth time are sorted, and the information of the current unmanned vehicle is added to the corresponding position in the energy replenishment task execution queue, so that the closer the energy replenishment task execution queue is to the head position, the shorter the time for the corresponding unmanned vehicle to reach the target energy replenishment area.

[0160] In the disclosed embodiment, when the number of unmanned vehicles performing the energy replenishment task is less than the capacity of the target energy replenishment zone, some unmanned vehicles that perform the energy replenishment task are sorted to conform to the order of the unmanned vehicles performing energy replenishment during the actual energy replenishment task execution process, that is, the unmanned vehicle that arrives at the target energy replenishment zone first performs the energy replenishment task first. This ensures that the subsequent target unmanned vehicles are determined more orderly, making the energy replenishment task execution of the unmanned vehicles more orderly.

[0161] In another embodiment provided by the present disclosure, Figure 4 As shown, the above device also includes:

[0162] The strategy determination module 304 is used to determine the currently adopted energy replenishment strategy; wherein the energy replenishment strategy is used to indicate the energy replenishment area to be used and the capacity of the corresponding energy replenishment area; according to the energy replenishment strategy, the location of the target energy replenishment area and the capacity of the target energy replenishment area are determined.

[0163] In the embodiment of the present disclosure, in the actual energy replenishment process, the currently adopted energy replenishment strategy will be determined first. Different strategies have different emphases between operating efficiency and energy replenishment efficiency, and can be flexibly configured according to needs. For example, when the energy replenishment time is tight, it can be determined to adopt an energy replenishment priority strategy, focusing on energy replenishment efficiency; when the energy replenishment time is sufficient, it can be determined to adopt an operation priority strategy, focusing on operating efficiency; if a balanced strategy is adopted, both operating efficiency and energy replenishment efficiency are taken into account; after determining the currently adopted energy replenishment strategy, the target energy replenishment zone location and the capacity of the target energy replenishment zone corresponding to the strategy can be determined, and then the subsequent unmanned vehicle can be screened whether to perform the energy replenishment task, so as to achieve the purpose of using different strategies to meet the needs of different energy replenishment scenarios.

[0164] The disclosed embodiment provides a cloud control platform, comprising a dispatching device for an unmanned vehicle as described in any of the above embodiments.

[0165] 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 means of 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 enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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 method for dispatching an unmanned vehicle, characterized in that: include: When the current unmanned vehicle needs to be recharged, the number of unmanned vehicles currently performing the recharging task and the capacity of the target recharging area are obtained; In the case where the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, determining whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first time period according to the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment zone; the first time period is the time taken for the current unmanned vehicle to depart from the current position and arrive at the target energy replenishment zone; If the capacity limit is not exceeded, the current unmanned vehicle is controlled to perform the energy replenishment task; if the capacity limit is exceeded, the current unmanned vehicle is controlled to continue to perform the current operation task.

2. The method according to claim 1, characterized in that The determining, based on the execution status of the energy replenishment task of the unmanned vehicle in the target energy replenishment zone, whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first period of time, includes: According to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, the target unmanned vehicle is determined from the energy replenishment task execution queue, so that under the premise of ensuring that the capacity of the target energy replenishment zone remains saturated, the current unmanned vehicle joins the target energy replenishment zone after the target unmanned vehicle completes the energy replenishment task, and the capacity limit of the target energy replenishment zone will not be exceeded; The energy replenishment delivery container is used to store information of unmanned vehicles that perform energy replenishment tasks in the form of a queue; When the first time duration is greater than or equal to the second time duration for the target unmanned vehicle to complete the energy replenishment task, it is determined that the information of the current unmanned vehicle is added to the energy replenishment task execution queue, and the capacity limit of the target energy replenishment zone is not exceeded; when the first time duration is less than the second time duration for the target unmanned vehicle to complete the energy replenishment task, the capacity limit of the target energy replenishment zone is exceeded.

3. The method according to claim 2, characterized in that According to the length of the energy replenishment task execution queue in the energy replenishment delivery container and the capacity of the target energy replenishment zone, determining the target unmanned vehicle from the energy replenishment task execution queue includes: Starting from the head of the energy replenishment task execution queue, the n-C+1th unmanned vehicle in the energy replenishment task execution queue is determined as the target unmanned vehicle; wherein n represents the length of the unmanned vehicle energy replenishment task execution queue, and C represents the capacity of the target energy replenishment area.

4. The method according to claim 2, characterized in that The second time duration for the target unmanned vehicle to complete the energy replenishment task is determined in the following manner: In the case where the target unmanned vehicle is the head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the head unmanned vehicle to complete the energy replenishment task is the sum of the time duration for the head unmanned vehicle to travel to the target energy replenishment area and the time duration for the head unmanned vehicle to replenish energy in the target energy replenishment area; When the target unmanned vehicle is a non-head unmanned vehicle in the energy replenishment task execution queue, the second time duration for the non-head unmanned vehicle to complete the energy replenishment task is the sum of the third time duration and the time duration for the non-head unmanned vehicle to replenish energy in the target energy replenishment area; the third time duration is the larger value of the time duration for the previous unmanned vehicle of the non-head unmanned vehicle to complete the energy replenishment task in the energy replenishment task execution queue and the time duration for the non-head unmanned vehicle to travel to the target energy replenishment area.

5. The method according to claim 1, characterized in that The method further comprises: When the current unmanned vehicle needs to be recharged, the information of the current unmanned vehicle is added to the recharge requirement container; Determine whether the current unmanned vehicle meets the following detection conditions: there is no return on the path from the current position of the current unmanned vehicle to the target energy replenishment area; and / or the current unmanned vehicle is in an unloaded state; If the detection condition is met, the information of the current unmanned vehicle is deleted from the energy replenishment demand container and added to the energy replenishment to be executed container; If the capacity limit is not exceeded, controlling the current unmanned vehicle to perform the energy replenishment task includes: If the capacity limit is not exceeded, the current unmanned vehicle is controlled to perform the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment to-be-executed container, and is added to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

6. The method according to claim 5, characterized in that If the capacity limit is exceeded, it also includes: After the current unmanned vehicle continues to perform the current operation task and completes a preset number of operation tasks, if the current unmanned vehicle is still in the energy replenishment to be executed container, the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment zone are obtained again; and when the number of unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, a judgment is made as to whether the current unmanned vehicle joins the target energy replenishment zone after a first period of time and exceeds the capacity limit of the target energy replenishment zone; and / or, If the capacity limit is exceeded, the method further includes: Whether the current unmanned vehicle meets the detection condition is judged at a preset time interval. If it is determined that the current unmanned vehicle does not meet the detection condition at any time, the information of the current unmanned vehicle is deleted from the energy replenishment waiting container and added to the energy replenishment demand container.

7. The method according to claim 2, characterized in that The method further comprises: When the current unmanned vehicle completes the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment delivery container.

8. The method according to claim 5, characterized in that Before obtaining the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area, it also includes: Determine whether the current remaining energy of the current unmanned vehicle in the energy replenishment waiting container meets the need for continued operation; The obtaining of the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area includes: Under the condition that the current unmanned vehicle can meet the demand for continued operation, the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area are obtained; The method further comprises: When the current unmanned vehicle cannot meet the demand for continued operation, the current unmanned vehicle is controlled to perform the energy replenishment task, the information of the current unmanned vehicle is deleted from the energy replenishment to be executed container, and is added to the energy replenishment task execution queue corresponding to the energy replenishment sending container.

9. The method according to claim 2, characterized in that Also includes: When the number of the unmanned vehicles that perform the energy replenishment task is less than the capacity of the target energy replenishment zone, controlling the current unmanned vehicle to perform the energy replenishment task; and Determine the execution status of the energy replenishment tasks of the unmanned vehicles in the current energy replenishment task execution queue; When all the unmanned vehicles in the current energy replenishment task execution queue have reached the target energy replenishment area, adding the information of the current unmanned vehicle to the end of the energy replenishment task execution queue; In the case where there is at least one unmanned vehicle in the current energy replenishment task execution queue that has not yet arrived at the target energy replenishment area, respectively determining the remaining time for the at least one unmanned vehicle to arrive at the target energy replenishment area and the fourth time for the current unmanned vehicle to arrive at the target energy replenishment area; At least one remaining time duration and the fourth time duration are sorted, and the information of the current unmanned vehicle is added to the corresponding position in the energy replenishment task execution queue, so that the closer the energy replenishment task execution queue is to the head position, the shorter the time it takes for the corresponding unmanned vehicle to reach the target energy replenishment area.

10. The method according to claim 1, characterized in that The capacity of the target energy replenishment zone is determined in the following manner: Determine the energy replenishment strategy currently used; the energy replenishment strategy is used to indicate the energy replenishment area used and the capacity of the corresponding energy replenishment area; According to the energy replenishment strategy, the location of the target energy replenishment area and the capacity of the target energy replenishment area are determined.

11. A dispatching device for an unmanned vehicle, characterized in that: include: An information acquisition module is used to obtain the number of unmanned vehicles currently performing the energy replenishment task and the capacity of the target energy replenishment area when the current unmanned vehicle needs to be recharged; A comprehensive analysis module is used to determine, when the number of the unmanned vehicles performing the energy replenishment task is greater than or equal to the capacity of the target energy replenishment zone, whether the capacity limit of the target energy replenishment zone is exceeded if the current unmanned vehicle joins the target energy replenishment zone after a first time period, according to the energy replenishment task execution status of the unmanned vehicles in the target energy replenishment zone; the first time period is the time taken for the current unmanned vehicle to arrive at the target energy replenishment zone from the current position; The scheduling decision module is used to control the current unmanned vehicle to perform the energy replenishment task if the capacity limit is not exceeded; if the capacity limit is exceeded, control the current unmanned vehicle to continue to perform the current operation task.

12. A cloud control platform, characterized in that: It includes a dispatching device for an unmanned vehicle as described in claim 11.

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