Transportation equipment scheduling method and system, computer readable storage medium and equipment

Abstract

The invention relates to the technical field of automatic control, and provides a transportation equipment scheduling method, a transportation equipment scheduling system, a computer readable storage medium and electronic equipment.The transportation equipment scheduling method comprises the steps that task information related to a transportation task is received; the task information comprises a transportation route of unmanned transportation equipment and a transportation route of manned transportation equipment; performing route analysis on the transportation route of the unmanned transportation equipment and the transportation route of the manned transportation equipment, and determining a route conflict area; the manned transportation equipment enters the route conflict area through the first type of entrance area, and the first type of entrance area is provided with traffic indication equipment; the driving information of the unmanned transportation equipment is obtained, the display state of the traffic indication equipment is regulated and controlled according to the driving information of the unmanned transportation equipment in combination with the pre-configured state regulation and control rule, so that the traffic state of the transportation equipment is scheduled, and safe and efficient cooperative work of the unmanned transportation equipment and the manned transportation equipment can be guaranteed.

Description

Background Art

[0002] With the deepening of the construction of intelligent mines, a large number of unmanned mining vehicles have begun to be used, and two transportation modes have emerged in mining: one is traditional manned transportation, and the other is intelligent unmanned transportation.

[0003] In mining operations, due to the extremely complex and real-time changing scenes, as well as the blind spots at various intersections, mixed operations of unmanned and manned vehicles have become an important issue that needs to be solved urgently. In this environment, ensuring that two different types of transportation equipment can work together safely and efficiently is a key challenge to improving the efficiency and safety of mining operations.

[0004] In view of this, there is an urgent need to develop a new transportation equipment scheduling method in this field.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure. Summary of the invention

[0006] The purpose of the present disclosure is to provide a transportation equipment scheduling method, a transportation equipment scheduling system, a computer-readable storage medium and an electronic device, thereby at least to a certain extent overcoming the technical problem of being unable to ensure safe and efficient collaborative work between unmanned transportation equipment and manned transportation equipment due to the limitations of related technologies.

[0007] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0008] According to a first aspect of the present disclosure, a transportation equipment scheduling method is provided, comprising:

[0009] Receiving task information related to a transportation task; the transportation task is performed collaboratively by an unmanned transportation device and a manned transportation device, and the task information includes a transportation route of the unmanned transportation device and a transportation route of the manned transportation device;

[0010] Performing route analysis on the transport routes of the unmanned transport equipment and the manned transport equipment to determine a route conflict area; the manned transport equipment enters the route conflict area through a first type entrance area, and the first type entrance area is provided with a traffic indication device;

[0011] Acquire the driving information of the unmanned transport equipment, and adjust the display state of the traffic indication device according to the driving information of the unmanned transport equipment in combination with a pre-configured state control rule, so as to schedule the traffic state of the transport equipment.

[0012] In an exemplary embodiment of the present disclosure, the performing of route analysis on the transport route of the unmanned transport equipment and the transport route of the manned transport equipment to estimate the route conflict area between the unmanned transport equipment and the manned transport equipment includes:

[0013] Performing route analysis on the transport route of the unmanned transport equipment and the transport route of the manned transport equipment to determine a candidate route conflict area;

[0014] Identify the conflict type between the transportation route of the manned transportation equipment and the transportation route of the unmanned transportation equipment in the candidate route conflict area; the conflict type includes intersection type, merging type and separation type;

[0015] When the conflict type includes a specified conflict type, the candidate route conflict area is determined to be the route conflict area; the specified conflict type includes the intersection type.

[0016] In an exemplary embodiment of the present disclosure, before regulating the display state of the traffic indication device according to the driving information of the unmanned transport equipment in combination with a preconfigured state regulation rule, the method further includes:

[0017] Receive the network address information of the traffic indication device, and establish a communication connection with the traffic indication device according to the network address information.

[0018] In an exemplary embodiment of the present disclosure, after establishing a communication connection with the traffic indication device according to the network address information, the method further includes:

[0019] Receive the device status uploaded by the traffic indication device to monitor the status of the traffic indication device.

[0020] In an exemplary embodiment of the present disclosure, the display state of the traffic indication device is regulated according to the driving information of the unmanned transport device in combination with a pre-configured state regulation rule, including:

[0021] In the initial stage of each control cycle, the traffic indication device is controlled to be in a first display state; the first display state is associated with a first timing duration, and the first display state is used to indicate that the unmanned transport equipment located in the second type entrance area enters a prohibited state, and the manned transport equipment enters a passable state; the unmanned transport equipment passes through the second type entrance area and enters the route conflict area;

[0022] In response to the first timing duration entering a countdown phase, determining whether the unmanned transportation equipment exists in a second type entrance area according to the driving information of the unmanned transportation equipment;

[0023] If the unmanned transportation device does not exist, the traffic indication device is controlled to maintain the first display state.

[0024] In an exemplary embodiment of the present disclosure, after controlling the traffic indication device to be in the first display state, the method further includes:

[0025] A no-entry instruction is sent to the unmanned transport equipment located in the second type entrance area.

[0026] In an exemplary embodiment of the present disclosure, the method further includes:

[0027] If the unmanned transport equipment exists, the traffic indication device is controlled to switch to a second display state; the second display state is associated with a second timing duration, and the second timing duration is used to indicate that the manned transport equipment located in the first type of entrance area enters the prohibited state, and the manned transport equipment that has entered the route conflict area maintains the passable state;

[0028] In response to the end of the second timing duration, the traffic indication device is controlled to switch to a third display state; the third display state is associated with a third timing duration, and the third display state is used to indicate that the unmanned transportation equipment enters a passable state and the manned transportation equipment located in the first type of entrance area enters a prohibited state.

[0029] In an exemplary embodiment of the present disclosure, after controlling the traffic indication device to switch to the third display state, the method further includes:

[0030] determining again whether the unmanned transport equipment exists in the second-type entrance area according to the driving information of the unmanned transport equipment;

[0031] If the unmanned transport device exists, controlling the traffic indication device to maintain the third display state, and sending a driving instruction to the unmanned transport device located in the second type entrance area;

[0032] If the unmanned transportation equipment does not exist, the traffic indication device is controlled to switch to a fourth display state after the third timing duration ends; the fourth display state is associated with a fourth timing duration, and the fourth display state is used to indicate that the unmanned transportation equipment located in the second type of entrance area enters the prohibited state.

[0033] In an exemplary embodiment of the present disclosure, after controlling the traffic indication device to switch to the fourth display state, the method further includes:

[0034] Sending a no-go instruction to the unmanned transport equipment located in the second type of entrance area;

[0035] After the fourth timing duration ends, the traffic indication device is controlled to switch to the first display state and enter the next control cycle.

[0036] In an exemplary embodiment of the present disclosure, the task information further includes the task end time, and the method further includes:

[0037] When the task end time is reached, the traffic indication device is controlled to switch to a standby state.

[0038] According to a second aspect of the present disclosure, a transportation equipment scheduling system is provided, comprising:

[0039] An information receiving module, used to receive task information related to a transportation task; the transportation task is performed collaboratively by an unmanned transportation device and a manned transportation device, and the task information includes a transportation route of the unmanned transportation device and a transportation route of the manned transportation device;

[0040] a conflict area determination module, configured to perform route analysis on the transport routes of the unmanned transport equipment and the manned transport equipment to determine a route conflict area; the manned transport equipment enters the route conflict area through a first type entrance area, and the first type entrance area is provided with a traffic indication device;

[0041] The traffic scheduling module is used to obtain the driving information of the unmanned transportation equipment, and to adjust the display state of the traffic indication device according to the driving information of the unmanned transportation equipment in combination with pre-configured state control rules, so as to schedule the traffic state of the transportation equipment.

[0042] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the transportation equipment scheduling method described in the first aspect is implemented.

[0043] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the transportation equipment scheduling method described in the first aspect above by executing the executable instructions.

[0044] It can be seen from the above technical solutions that the transportation equipment scheduling method, transportation equipment scheduling system, computer-readable storage medium and electronic device in the exemplary embodiments of the present disclosure have at least the following advantages and positive effects:

[0045] In the technical solutions provided in some embodiments of the present disclosure, by receiving task information related to the transportation task, the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment are analyzed, the route conflict area is determined (the manned transportation equipment enters the route conflict area through the first type of entrance area, and the first type of entrance area is provided with a traffic indication device), the driving information of the unmanned transportation equipment is obtained, and the display state of the traffic indication device is adjusted according to the driving information of the unmanned transportation equipment in combination with the pre-configured state control rules to schedule the traffic status of the transportation equipment. The traffic control range can be reasonably determined based on the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment, and the traffic indication device of the first type of entrance area set in the route conflict area is dynamically adjusted in combination with the driving information of the unmanned transportation equipment and the pre-configured state control rules to instruct the manned transportation equipment to pass, stop and wait, thereby effectively avoiding potential collision risks in the route conflict area, improving transportation efficiency, and ensuring the safe and efficient collaborative work of the unmanned transportation equipment and manned transportation equipment in open-pit mining operation scenarios.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0048] Figure 1 A schematic diagram showing a flow chart of a method for scheduling transportation equipment in an embodiment of the present disclosure is shown;

[0049] Figure 2 A schematic diagram showing an unmanned transport device and a manned transport device cooperating to perform a mineral transport task in an embodiment of the present disclosure;

[0050] Figure 3 A schematic diagram showing a flow chart of how to determine a route conflict area between an unmanned transport device and a manned transport device in an embodiment of the present disclosure;

[0051] Figure 4 A schematic diagram showing how to set a traffic indication device in a route conflict area after determining a route conflict area in an embodiment of the present disclosure;

[0052] Figure 5A schematic diagram showing another method of setting a traffic indication device in a route conflict area after determining the route conflict area in an embodiment of the present disclosure;

[0053] Figure 6 A schematic diagram showing a scenario of transportation equipment scheduling in an embodiment of the present disclosure is shown;

[0054] Figure 7 A flow chart showing how to control the display state of a traffic indication device according to the driving information of an unmanned transport device in combination with a pre-configured state control rule in an embodiment of the present disclosure;

[0055] Figure 8 A schematic diagram showing a state control process of a traffic light in an embodiment of the present disclosure;

[0056] Fig. 9 A schematic diagram showing the structure of a transportation equipment scheduling system in an exemplary embodiment of the present disclosure is shown;

[0057] Fig.10 A schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0058] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0059] The terms "a", "an", "the" and "said" are used in this specification to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0060] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0061] With the in-depth advancement of the construction of intelligent mines, a large number of unmanned mining trucks have begun to be used, and two transportation modes have emerged in mining: one is traditional manned transportation, and the other is intelligent unmanned transportation. Therefore, the mixed operation of unmanned and manned has become an important issue that needs to be solved urgently.

[0062] Autonomous vehicles mainly rely on vehicle-side perception systems and V2X (Vehicle-to-Everything) fusion technology to monitor the status of nearby vehicles in real time to ensure the safe driving of the vehicle.

[0063] Traditional manned vehicles are mainly observed and decided by people to ensure their driving safety. However, the operation scenes in mining areas are extremely complex and change in real time. There are blind spots at various intersections. Manned vehicles cannot be detected by unmanned vehicles in time, and the driving status of unmanned vehicles cannot be observed in time, which makes collision accidents very likely.

[0064] The present disclosure aims to provide a method for scheduling mixed operations of unmanned and manned vehicles in an open-pit mine operation area. By collecting the driving paths of unmanned vehicles and manned vehicles, a virtual meeting area is established as the effective control range of the scheduling system, and the conflict relationship between the intersection sections is calculated. The unmanned vehicles are controlled and scheduled in real time through a cloud scheduling system.

[0065] In the embodiments of the present disclosure, a transportation equipment scheduling method is first provided, which at least to some extent overcomes the defect in the related art that the unmanned transportation equipment and the manned transportation equipment cannot work together safely and efficiently.

[0066] Figure 1 A flow chart of a transportation equipment scheduling method in an embodiment of the present disclosure is shown. The execution subject of the transportation equipment scheduling method may be a transportation equipment scheduling system or a cloud scheduling system.

[0067] refer to Figure 1 According to an embodiment of the present disclosure, a transportation equipment scheduling method includes the following steps:

[0068] Step S110, receiving task information related to the transport task; the transport task is performed by the unmanned transport equipment and the manned transport equipment in collaboration, and the task information includes the transport route of the unmanned transport equipment and the transport route of the manned transport equipment;

[0069] Step S120, performing route analysis on the transport routes of the unmanned transport equipment and the manned transport equipment to determine a route conflict area; the manned transport equipment enters the route conflict area through a first type entrance area, and the first type entrance area is provided with a traffic indication device;

[0070] Step S130, obtaining the driving information of the unmanned transport equipment, and adjusting the display state of the traffic indication device according to the driving information of the unmanned transport equipment in combination with the pre-configured state control rules, so as to schedule the traffic state of the transport equipment.

[0071] exist Figure 1 In the technical solution provided by the illustrated embodiment, by receiving task information related to the transportation task, the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment are analyzed, the route conflict area is determined (the manned transportation equipment enters the route conflict area through the first type of entrance area, and the first type of entrance area is provided with a traffic indication device), the driving information of the unmanned transportation equipment is obtained, and the display state of the traffic indication device is adjusted according to the driving information of the unmanned transportation equipment in combination with the pre-configured state control rules to schedule the traffic status of the transportation equipment. The traffic control range can be reasonably determined based on the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment, and the traffic indication device of the first type of entrance area set in the route conflict area is dynamically adjusted in combination with the driving information of the unmanned transportation equipment and the pre-configured state control rules to instruct the manned transportation equipment to pass, stop and wait, thereby effectively avoiding potential collision risks in the route conflict area, improving transportation efficiency, and ensuring the safe and efficient collaborative work of unmanned transportation equipment and manned transportation equipment in open-pit mining operation scenarios.

[0072] The following Figure 1 The specific implementation process of each step is described in detail:

[0073] First of all, it should be noted that the present disclosure can be applied to open-pit mining operation scenarios. Unmanned transportation equipment can be vehicles or transportation tools that can autonomously complete driving, navigation and other driving tasks without direct intervention from human drivers, such as unmanned trucks; manned transportation equipment refers to vehicles or transportation tools that are directly operated and controlled by human drivers, such as manned trucks.

[0074] Secondly, the transportation task in the present disclosure may refer to a mineral transportation task performed by unmanned transportation equipment and manned transportation equipment in collaboration. Figure 2 , Figure 2 A schematic diagram showing an unmanned transport device (i.e., an unmanned vehicle shown in the figure) and a manned transport device (i.e., a manned vehicle shown in the figure) in cooperation with each other in performing a mineral transport task in an embodiment of the present disclosure is shown. Figure 2It can be seen that the transportation routes of unmanned vehicles and manned vehicles may overlap, intersect or merge.

[0075] Among them, the above-mentioned transportation tasks can be determined according to the daily work plan during mining in the mining area. The daily work plan can include multiple loading and mining areas, each loading and mining area can be associated with corresponding mining equipment and transportation equipment (for example: one excavator and 5 trucks, which can be set according to actual conditions, and the present disclosure does not make special limitations on this), and the transportation equipment in each loading and mining area has the same transportation route.

[0076] More specifically, the transport routes of unmanned transport equipment may include a heavy-loaded route and an empty-loaded route, and the transport routes of manned transport equipment may also include a heavy-loaded route and an empty-loaded route, wherein the heavy-loaded route refers to the route for transporting minerals from the mining area to the destination after loading them, and the empty-loaded route refers to the route from the destination back to the mining area after unloading. For the same driving equipment, its heavy-loaded route and empty-loaded route may be two parallel and independent routes.

[0077] In an optional embodiment, when collecting task information, a mark (for example: m) can be set for the transportation route of manned transportation equipment, or a mark (for example: n) can be set for the transportation route of unmanned transportation equipment. The transportation route of manned transportation equipment and the transportation route of unmanned transportation equipment can be quickly distinguished by using route marks or differences in route marks.

[0078] A task scheduling system may also be provided in the present disclosure, and the task scheduling system may collect task information related to the transportation task, and then submit the task information to the cloud scheduling system.

[0079] Next reference Figure 1 , in step S110, task information related to the transportation task is received.

[0080] In this step, the cloud scheduling system may receive task information related to the above-mentioned transportation task issued by the above-mentioned task scheduling system. Exemplarily, the task information may include the transportation route of the unmanned transportation equipment performing the transportation task and the transportation route of the manned transportation equipment.

[0081] In step S120, a route analysis is performed on the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment to determine a route conflict area.

[0082] In this step, after receiving the task information related to the transportation task, the cloud scheduling system can perform route analysis on the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment to determine the route conflict area between the unmanned transportation equipment and the manned transportation equipment.

[0083] Exemplary, reference Figure 3 , Figure 3 A flow chart showing how to determine the route conflict area between unmanned transport equipment and manned transport equipment in an embodiment of the present disclosure includes steps S301 to S303:

[0084] In step S301, a route analysis is performed on the transportation routes of the unmanned transportation equipment and the transportation routes of the manned transportation equipment to determine candidate route conflict areas.

[0085] In this step, the cloud dispatching system can perform route analysis on the transport routes of the unmanned transport equipment and the transport routes of the manned transport equipment to determine the candidate route conflict area. For example, the trajectory points of the transport routes of the unmanned transport equipment and the transport routes of the manned transport equipment can be compared to determine the candidate route conflict area where there may be a meeting situation.

[0086] In step S302, the conflict type between the transportation route of the manned transportation equipment and the transportation route of the unmanned transportation equipment in the candidate route conflict area is identified.

[0087] In this step, after determining the candidate route conflict area, the conflict type between the transportation route of the manned transportation equipment and the transportation route of the unmanned transportation equipment in the candidate route conflict area can be identified. Exemplarily, the conflict type between the heavy-loaded route of the manned transportation equipment and the transportation route of the unmanned transportation equipment (including the heavy-loaded route and the empty-loaded route) can be compared, and the conflict type between the empty-loaded route of the manned transportation equipment and the transportation route of the unmanned transportation equipment (including the heavy-loaded route and the empty-loaded route) can be compared.

[0088] Exemplarily, the conflict type may include an intersection type, a merging type and a separation type, wherein the intersection type refers to the vertical or oblique intersection of two routes, the merging type refers to the gradual approach of two or more routes and eventually merging into a common route, and the separation type refers to the bifurcation of two or more overlapping routes into multiple independent routes.

[0089] In step S303 , when the conflict type includes a specified conflict type, the candidate route conflict area is determined to be a route conflict area.

[0090] In this step, when it is identified in a candidate route conflict region that its associated conflict type includes a specified conflict type (exemplarily, an intersection type), the candidate route conflict region may be determined as a route conflict region.

[0091] After determining the route conflict area, a first type of entrance area (also known as a manned stop line area, which refers to a designated area located in the direction where manned transportation equipment enters the route conflict area, connected to the route conflict area and located outside the route conflict area) and a second type of entrance area (also known as an unmanned stop line area, which refers to a designated area located in the direction where unmanned transportation equipment enters the route conflict area, connected to the route conflict area and located outside the route conflict area) can be set for the route conflict area, wherein manned transportation equipment can enter the route conflict area through the first type of entrance area, and unmanned transportation equipment can enter the route conflict area through the second type of entrance area. Given that there are no personnel observing traffic indication devices for unmanned transportation equipment, traffic indication devices do not need to be set up in the second type of entrance area corresponding to the unmanned transportation equipment, and traffic indication devices can be set up only in the first type of entrance area corresponding to the manned transportation equipment. Each traffic indication device can correspond to a unique network address information, such as an IP (Internet Protocol) address, so that the cloud scheduling system can establish a communication connection with the corresponding traffic indication device based on the IP address.

[0092] refer to Figure 4 , Figure 4 A schematic diagram showing how to set a traffic indication device in a route conflict area after determining a route conflict area in an embodiment of the present disclosure, such as Figure 4 As shown, the dotted area surrounded by the irregular closed figure is the route conflict area in the present disclosure. The north-south direction is the transportation route of the unmanned transportation equipment (the solid line is the empty route, and the dotted line is the heavy-loaded route), and the east-west direction is the transportation route of the manned transportation equipment (the solid line is the empty route, and the dotted line is the heavy-loaded route). The empty route of the manned transportation equipment intersects with both the empty route and the heavy-loaded route of the unmanned transportation equipment. At the same time, the heavy-loaded route of the manned transportation equipment intersects with both the empty route and the heavy-loaded route of the unmanned transportation equipment. Therefore, two traffic indication devices can be set for the route conflict area. The traffic indication device 1 is set at the first type of entrance area corresponding to the heavy-loaded route of the manned transportation equipment, and the traffic indication device 2 is set at the first type of entrance area corresponding to the empty route of the manned transportation equipment, so as to schedule the traffic status of the route conflict area.

[0093] refer to Figure 5 , Figure 5 A schematic diagram showing another method of setting a traffic indication device in a route conflict area after determining a route conflict area in an embodiment of the present disclosure, such as Figure 5As shown, the area enclosed by the irregular closed figure is the route conflict area in the present disclosure, the curve in the north-south direction connected to the straight line in the east-west direction is the transportation route of the unmanned transportation equipment (the solid line is the empty route, and the dotted line is the heavy-loaded route), and the straight line in the east-west direction is the transportation route of the manned transportation equipment (the solid line is the empty route, and the dotted line is the heavy-loaded route). The empty route of the manned transportation equipment merges with the empty route of the unmanned transportation equipment, and intersects with the heavy-loaded route of the unmanned transportation equipment. At the same time, the heavy-loaded route of the manned transportation equipment has no route conflict with the empty route of the unmanned transportation equipment, and is separated from the heavy-loaded route of the unmanned transportation equipment. Therefore, a necessary traffic indication device 1 can be set for the route conflict area, which is set at the first type of entrance area corresponding to the empty route of the manned transportation equipment. Optionally, an optional traffic indication device 2 can also be set for the conflict route area, which is set at the first type of entrance area corresponding to the heavy-loaded route of the manned transportation equipment, so as to schedule the traffic status of the route conflict area.

[0094] refer to Figure 6 , Figure 6 A schematic diagram of a scenario of transport equipment scheduling in an embodiment of the present disclosure is shown. Figure 6 As shown, unmanned transport equipment and manned transport equipment may coexist in the scene, and the transport routes of the two may cross and mix. In order to avoid blind spots in the sight of manned transport equipment, traffic indication equipment can be set in the scene based on the solution in the present disclosure to provide indication information for the manned transport equipment to avoid collision accidents.

[0095] Next reference Figure 1 In step S130, the driving information of the unmanned transport equipment is obtained, and the display state of the traffic indication device is adjusted according to the driving information of the unmanned transport equipment and the pre-configured state control rules to schedule the traffic state of the transport equipment.

[0096] In this step, it should be noted that the unmanned transport equipment can upload its own driving information to the cloud dispatching system through the network, so that the cloud dispatching system can obtain the driving information of the unmanned transport equipment to accurately locate the position of the unmanned transport equipment. Exemplarily, the driving information can include: location information (e.g., longitude and latitude), load status (e.g., empty or overloaded), information about the task being executed (e.g., task name), and operating parameters (e.g., vehicle speed, etc.), which can be set according to actual conditions, and the present disclosure does not make any special restrictions on this.

[0097] After obtaining the driving information of the unmanned transport equipment, the cloud-based dispatching system may first establish a communication connection with the above-mentioned traffic sign device based on the received network address information (for example, IP address) of the traffic sign device related to the above-mentioned transport task, or the traffic sign device may actively establish a communication connection with the cloud-based dispatching system after it goes online. It may be set according to actual conditions, and the present disclosure does not make any special limitations on this.

[0098] After establishing a communication connection with the traffic indicator device, the traffic indicator device can report its own device status (for example, whether it is in normal operation or abnormal operation, etc.) to the cloud dispatch system, so that the cloud dispatch system can monitor the status of the traffic indicator device, so that when a problem occurs with the traffic indicator device, it can be quickly resolved to avoid adverse effects on on-site transportation operations. Optionally, the above-mentioned traffic indicator device can also be provided with a monitoring module, so that the situation in the route conflict area can be monitored and recorded in real time, so as to facilitate scene restoration at a later stage, thereby regulating the driving behavior of manned transport equipment.

[0099] It should be noted that the traffic sign device in the present disclosure can distinguish different display states through text or symbols, or can distinguish different display states through the color of the light. The specific text content, light color, etc. can be set according to actual needs, and the present disclosure does not make any special limitations on this.

[0100] In the following embodiments, different display states are distinguished by the color of the light. Thus, illustratively, the color of the light in the present disclosure may include four display states, the first display state may be a bright green light, the second display state may be a flashing green light, the third display state may be a bright red light, and the fourth display state may be a flashing red light. In each control cycle, the traffic indication device may change from the first display state to the fourth display state, and when the control cycle ends, it may switch back to the first display state.

[0101] refer to Figure 7 , Figure 7 A flow chart showing how to control the display state of a traffic indication device according to the driving information of an unmanned transport device in combination with a pre-configured state control rule in an embodiment of the present disclosure includes steps S701 to S708:

[0102] In step S701, at the initial stage of each control cycle, the traffic indication device is controlled to be in the first display state.

[0103] In this step, at the initial stage of each control cycle, the traffic indication device can be controlled to a first display state (green light on), and the first display state can be associated with a first timing duration (for example: 30 seconds, which can be set according to the traffic flow, and the present disclosure does not specifically limit this), and the first display state is used to indicate that the unmanned transportation equipment located in the second type of entrance area enters a prohibited state, and the manned transportation equipment enters a passable state (that is, manned and vehicles can pass through the route conflict area). Therefore, after controlling the traffic indication device to the first display state, the cloud-based scheduling system can send a prohibited instruction to the unmanned transportation equipment located in the second type of entrance area, so that the unmanned transportation equipment stops outside the route conflict area.

[0104] In step S702, in response to the first timing duration entering the countdown phase, it is determined whether there is an unmanned transportation device in the second type entrance area according to the driving information of the unmanned transportation device.

[0105] In this step, when the first timing duration enters the countdown stage (for example, 1 second left), the cloud scheduling system can determine whether there is an unmanned transportation device in the second type entrance area based on the received driving information of the unmanned transportation device.

[0106] In step S703, if there is no unmanned transportation equipment, the traffic indication device is controlled to maintain the first display state.

[0107] In this step, if there is no unmanned transportation equipment in the second type entrance area, the traffic indication device may be controlled to continue to maintain the first display state (ie, the green light is on).

[0108] In step S704, if there is an unmanned transportation device, the traffic indication device is controlled to switch to the second display state.

[0109] In this step, if there is unmanned transportation equipment in the second type of entrance area, the traffic indication device can be controlled to switch to a second display state (for example, a flashing green light). The second display state can be associated with a second timing duration (for example, 15 seconds, which can be set according to the traffic volume, and the present disclosure does not make any special restrictions on this). The second display state can be used to indicate that the manned transportation equipment located in the first type of entrance area enters a prohibited state (that is, the manned transportation equipment stops driving), and the manned transportation equipment that has entered the route conflict area remains in a passable state and passes quickly.

[0110] In step S705, in response to the end of the second timing duration, the traffic indication device is controlled to switch to the third display state, and based on the driving information of the unmanned transportation equipment, it is determined again whether there is an unmanned transportation equipment in the second type entrance area.

[0111] In this step, after the second timing duration ends, the traffic indication device can be controlled to switch to the third display state (red light), and the third display state can be associated with a third timing duration (for example: 60 seconds, which can be set according to the traffic flow). The third display state is used to indicate that the unmanned transport equipment enters a passable state, and the manned transport equipment located in the first type of entrance area enters a prohibited state.

[0112] Afterwards, it can be determined again whether there is an unmanned transportation device in the second type entrance area based on the driving information of the unmanned transportation device.

[0113] In step S706, if there is an unmanned transport device, the traffic indication device is controlled to maintain the third display state, and a driving instruction is sent to the unmanned transport device located in the second type entrance area.

[0114] In this step, if there is unmanned transportation equipment, the traffic indication device can be controlled to maintain the third display state (i.e., the red light is on) to prompt the manned transportation equipment located in the first type of entrance area to enter the prohibited state and stop and wait. At the same time, a driving instruction can be sent to the unmanned transportation equipment located in the second type of entrance area.

[0115] In step S707, if there is no unmanned transport equipment, the traffic indication device may be controlled to switch to the fourth display state after the third timing duration ends.

[0116] In this step, if there is no unmanned transport equipment, the traffic indication device can be controlled to switch to the fourth display state (flashing red light) after the third timing duration ends, so as to prompt the manned transport equipment located in the first type of entrance area to enter the pre-start state and prepare to start. The fourth display state can be associated with a fourth timing duration (for example: 15 seconds, which can be set according to the traffic flow). The fourth display state is used to indicate that the unmanned transport equipment located in the second type of entrance area enters a prohibited state. Therefore, after the traffic indication device is switched to the fourth display state, a prohibited instruction can be sent to the unmanned transport equipment located in the second type of entrance area to dispatch the unmanned transport equipment to stop outside the route conflict area.

[0117] In step S708, after the fourth timing duration ends, the traffic indication device is controlled to switch to the first display state and enter the next control cycle.

[0118] In this step, after the fourth timing duration ends, the traffic indication device can be controlled to switch to the first display state (green light) and enter the next control cycle.

[0119] In an optional embodiment, the present disclosure may also be arranged to regulate the display status of the above-mentioned traffic sign device in a fixed-timing cyclic display manner. By way of example, the above-mentioned fixed-timing cyclic display manner may be: red light on → flashing red light → green light on → flashing green light → red light on. The duration of each state may be dynamically adjusted according to the traffic flow of unmanned transport equipment and manned transport equipment near the route conflict area. The present disclosure does not make any special limitation on this.

[0120] In an optional embodiment, the above-mentioned task information may also include the task end time, so that the cloud scheduling system can control the above-mentioned traffic indication device to switch to standby state when the above-mentioned task end time is reached, thereby saving energy, extending equipment life, and reducing maintenance costs.

[0121] Taking the traffic indicator device as a traffic light as an example, refer to Figure 8 , Figure 8 A schematic diagram showing the state control process of a traffic light in an embodiment of the present disclosure is shown as follows: Figure 8 As shown:

[0122] At the initial stage of each control cycle, each traffic light in each route conflict area can be set to a green light state, and the green light starts timing;

[0123] When the green light timing ends and there is an unmanned transportation device in the second type entrance area, the traffic light is set to a flashing green light state and the timing starts;

[0124] After the timer counts, the traffic light can be set to a red light state, and the red light starts timing;

[0125] After the red light timing ends, the unmanned transport equipment is dispatched to stop at the second type entrance area to wait, the traffic light is set to a flashing red light state, and the timing starts;

[0126] After the timer ends, you can re-enter the green light state;

[0127] In addition, in each state, if the task end time is reached, it can jump directly to the off state.

[0128] Based on the above technical solutions, the present disclosure can at least achieve the following technical effects:

[0129] It is able to reasonably determine the scope of traffic control based on the transportation routes of unmanned transportation equipment and manned transportation equipment, and dynamically control the traffic indication equipment of the first type of entrance area set in the route conflict area in combination with the driving information of the unmanned transportation equipment and the pre-configured state control rules, so as to instruct manned transportation equipment to pass, stop and wait, thereby effectively avoiding potential collision risks in the route conflict area, improving transportation efficiency, and ensuring the safe and efficient collaborative work of unmanned transportation equipment and manned transportation equipment in open-pit mine operation scenarios.

[0130] The present disclosure also provides a transportation equipment scheduling system. Fig. 9 A schematic diagram showing the structure of a transportation equipment scheduling system in an exemplary embodiment of the present disclosure is shown; Fig. 9 As shown, the transport equipment scheduling system 900 may include an information receiving module 910, a conflict area determination module 920 and a traffic scheduling module 930. Among them:

[0131] The information receiving module 910 is used to receive task information related to a transportation task; the transportation task is performed by an unmanned transportation device and a manned transportation device in collaboration, and the task information includes a transportation route of the unmanned transportation device and a transportation route of the manned transportation device;

[0132] The conflict area determination module 920 is used to perform route analysis on the transportation route of the unmanned transportation equipment and the transportation route of the manned transportation equipment to determine the route conflict area; the manned transportation equipment enters the route conflict area through a first type of entrance area, and the first type of entrance area is provided with a traffic indication device;

[0133] The traffic scheduling module 930 is used to obtain the driving information of the unmanned transportation equipment, and to adjust the display state of the traffic indication device according to the driving information of the unmanned transportation equipment in combination with pre-configured state control rules, so as to schedule the traffic state of the transportation equipment.

[0134] In an exemplary embodiment of the present disclosure, the conflict area determination module 920 performs route analysis on the transportation route of the unmanned transportation equipment and the transportation route of the manned transportation equipment to estimate the route conflict area between the unmanned transportation equipment and the manned transportation equipment, including:

[0135] Performing route analysis on the transport route of the unmanned transport equipment and the transport route of the manned transport equipment to determine a candidate route conflict area;

[0136] Identify the conflict type between the transportation route of the manned transportation equipment and the transportation route of the unmanned transportation equipment in the candidate route conflict area; the conflict type includes intersection type, merging type and separation type;

[0137] When the conflict type includes a specified conflict type, the candidate route conflict area is determined to be the route conflict area; the specified conflict type includes the intersection type.

[0138] In an exemplary embodiment of the present disclosure, before regulating the display state of the traffic indication device according to the driving information of the unmanned transport equipment in combination with a pre-configured state regulation rule, the traffic scheduling module 930 is configured to:

[0139] Receive the network address information of the traffic indication device, and establish a communication connection with the traffic indication device according to the network address information.

[0140] In an exemplary embodiment of the present disclosure, after establishing a communication connection with the traffic indication device according to the network address information, the traffic scheduling module 930 is configured to:

[0141] Receive the device status uploaded by the traffic indication device to monitor the status of the traffic indication device.

[0142] In an exemplary embodiment of the present disclosure, the traffic scheduling module 930 regulates the display state of the traffic indication device according to the driving information of the unmanned transport equipment in combination with a pre-configured state regulation rule, including:

[0143] At the initial stage of each control cycle, the traffic indication device is controlled to be in a first display state; the first display state is associated with a first timing duration, and the first display state is used to indicate that the unmanned transport equipment located in the second type entrance area enters a prohibited state, and the manned transport equipment enters a passable state; the unmanned transport equipment passes through the second type entrance area and enters the route conflict area;

[0144] In response to the first timing duration entering a countdown phase, determining whether the unmanned transportation equipment exists in a second type entrance area according to the driving information of the unmanned transportation equipment;

[0145] If the unmanned transportation device does not exist, the traffic indication device is controlled to maintain the first display state.

[0146] In an exemplary embodiment of the present disclosure, after controlling the traffic indication device to be in the first display state, the traffic scheduling module 930 is configured to:

[0147] A no-entry instruction is sent to the unmanned transport equipment located in the second type entrance area.

[0148] In an exemplary embodiment of the present disclosure, the traffic scheduling module 930 is configured to:

[0149] If the unmanned transport equipment exists, the traffic indication device is controlled to switch to a second display state; the second display state is associated with a second timing duration, and the second timing duration is used to indicate that the manned transport equipment located in the first type of entrance area enters the prohibited state, and the manned transport equipment that has entered the route conflict area maintains the passable state;

[0150] In response to the end of the second timing duration, the traffic indication device is controlled to switch to a third display state; the third display state is associated with a third timing duration, and the third display state is used to indicate that the unmanned transportation equipment enters a passable state and the manned transportation equipment located in the first type of entrance area enters a prohibited state.

[0151] In an exemplary embodiment of the present disclosure, after controlling the traffic indication device to switch to the third display state, the traffic scheduling module 930 is configured to:

[0152] determining again whether the unmanned transport equipment exists in the second-type entrance area according to the driving information of the unmanned transport equipment;

[0153] If the unmanned transport device exists, controlling the traffic indication device to maintain the third display state, and sending a driving instruction to the unmanned transport device located in the second type entrance area;

[0154] If the unmanned transportation equipment does not exist, the traffic indication device is controlled to switch to a fourth display state after the third timing duration ends; the fourth display state is associated with a fourth timing duration, and the fourth display state is used to indicate that the unmanned transportation equipment located in the second type of entrance area enters the prohibited state.

[0155] In an exemplary embodiment of the present disclosure, after controlling the traffic indication device to switch to the fourth display state, the traffic scheduling module 930 is configured to:

[0156] Sending a no-go instruction to the unmanned transport equipment located in the second type of entrance area;

[0157] After the fourth timing duration ends, the traffic indication device is controlled to switch to the first display state and enter the next control cycle.

[0158] In an exemplary embodiment of the present disclosure, the task information also includes the task end time, and the traffic scheduling module 930 is configured to:

[0159] When the task end time is reached, the traffic indication device is controlled to switch to a standby state.

[0160] The specific details of each module in the above-mentioned transportation equipment scheduling system have been described in detail in the corresponding transportation equipment scheduling method, so they will not be repeated here.

[0161] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0162] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0163] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation 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.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0164] The present disclosure also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist independently without being assembled into the electronic device.

[0165] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0166] Computer-readable storage media can send, propagate or transmit programs for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0167] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiments.

[0168] In addition, an electronic device capable of implementing the above method is also provided in an embodiment of the present disclosure.

[0169] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0170] Refer to the following Fig.10 The electronic device 1000 according to this embodiment of the present disclosure is described. Fig.10 The electronic device 1000 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0171] like Fig.10 As shown, the electronic device 1000 is in the form of a general computing device. The components of the electronic device 1000 may include, but are not limited to: at least one processor 1010, at least one memory 1020, a bus 1030 connecting different system components (including the memory 1020 and the processor 1010), and a display 1040.

[0172] The memory stores program codes, which can be executed by the processor 1010, so that the processor 1010 executes the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processor 1010 can execute the following steps: Figure 1 As shown in: Step S110, receiving task information related to the transportation task; the transportation task is collaboratively performed by unmanned transportation equipment and manned transportation equipment, and the task information includes the transportation route of the unmanned transportation equipment and the transportation route of the manned transportation equipment; Step S120, performing route analysis on the transportation route of the unmanned transportation equipment and the transportation route of the manned transportation equipment to determine the route conflict area; the manned transportation equipment enters the route conflict area through the first type of entrance area, and the first type of entrance area is provided with a traffic indication device; Step S130, obtaining the driving information of the unmanned transportation equipment, and adjusting the display state of the traffic indication device according to the driving information of the unmanned transportation equipment in combination with a pre-configured state control rule, so as to schedule the traffic state of the transportation equipment.

[0173] The memory 1020 may include a readable medium in the form of a volatile storage, such as a random access memory (RAM) 10201 and / or a cache memory 10202 , and may further include a read-only memory (ROM) 10203 .

[0174] Memory 1020 may also include a program / utility 10204 having a set (at least one) of program modules 10205, such program modules 10205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0175] The bus 1030 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0176] The electronic device 1000 may also communicate with one or more external devices 1100 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1000, and / or may communicate with any device that enables the electronic device 1000 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1050. Furthermore, the electronic device 1000 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the electronic device 1000 via a bus 1030. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1000, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0177] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

Claims

1. A method for dispatching transportation equipment, characterized in that: The method comprises: Receiving task information related to a transportation task; the transportation task is performed collaboratively by an unmanned transportation device and a manned transportation device, and the task information includes a transportation route of the unmanned transportation device and a transportation route of the manned transportation device; Performing route analysis on the transport routes of the unmanned transport equipment and the manned transport equipment to determine a route conflict area; the manned transport equipment enters the route conflict area through a first type entrance area, and the first type entrance area is provided with a traffic indication device; Acquire the driving information of the unmanned transport equipment, and adjust the display state of the traffic indication device according to the driving information of the unmanned transport equipment in combination with a pre-configured state control rule, so as to schedule the traffic state of the transport equipment.

2. The method according to claim 1, characterized in that The performing of route analysis on the transport route of the unmanned transport equipment and the transport route of the manned transport equipment to estimate the route conflict area between the unmanned transport equipment and the manned transport equipment includes: Performing route analysis on the transport route of the unmanned transport equipment and the transport route of the manned transport equipment to determine a candidate route conflict area; Identify the conflict type between the transportation route of the manned transportation equipment and the transportation route of the unmanned transportation equipment in the candidate route conflict area; the conflict type includes intersection type, merging type and separation type; When the conflict type includes a specified conflict type, the candidate route conflict area is determined to be the route conflict area; the specified conflict type includes the intersection type.

3. The method according to claim 1 or 2, characterized in that: The controlling the display state of the traffic indication device according to the driving information of the unmanned transport device in combination with a pre-configured state control rule includes: In the initial stage of each control cycle, the traffic indication device is controlled to be in a first display state; the first display state is associated with a first timing duration, and the first display state is used to indicate that the unmanned transport equipment located in the second type entrance area enters a prohibited state, and the manned transport equipment enters a passable state; the unmanned transport equipment passes through the second type entrance area and enters the route conflict area; In response to the first timing duration entering a countdown phase, determining whether the unmanned transportation equipment exists in a second type entrance area according to the driving information of the unmanned transportation equipment; If the unmanned transportation device does not exist, the traffic indication device is controlled to maintain the first display state.

4. The method according to claim 3, characterized in that After controlling the traffic indication device to be in the first display state, the method further includes: A no-entry instruction is sent to the unmanned transport equipment located in the second type entrance area.

5. The method according to claim 3, characterized in that: The method further comprises: If the unmanned transport equipment exists, the traffic indication device is controlled to switch to a second display state; the second display state is associated with a second timing duration, and the second timing duration is used to indicate that the manned transport equipment located in the first type of entrance area enters the prohibited state, and the manned transport equipment that has entered the route conflict area maintains the passable state; In response to the end of the second timing duration, the traffic indication device is controlled to switch to a third display state; the third display state is associated with a third timing duration, and the third display state is used to indicate that the unmanned transportation equipment enters a passable state and the manned transportation equipment located in the first type of entrance area enters a prohibited state.

6. The method according to claim 5, characterized in that After controlling the traffic indication device to switch to the third display state, the method further includes: determining again whether the unmanned transport equipment exists in the second-type entrance area according to the driving information of the unmanned transport equipment; If the unmanned transport device exists, controlling the traffic indication device to maintain the third display state, and sending a driving instruction to the unmanned transport device located in the second type entrance area; If the unmanned transportation equipment does not exist, the traffic indication device is controlled to switch to a fourth display state after the third timing duration ends; the fourth display state is associated with a fourth timing duration, and the fourth display state is used to indicate that the unmanned transportation equipment located in the second type of entrance area enters the prohibited state.

7. The method according to claim 6, characterized in that After controlling the traffic indication device to switch to the fourth display state, the method further includes: Sending a no-go instruction to the unmanned transport equipment located in the second type of entrance area; After the fourth timing duration ends, the traffic indication device is controlled to switch to the first display state and enter the next control cycle.

8. A transportation equipment scheduling system, characterized in that: include: An information receiving module, used to receive task information related to a transportation task; the transportation task is performed collaboratively by an unmanned transportation device and a manned transportation device, and the task information includes a transportation route of the unmanned transportation device and a transportation route of the manned transportation device; a conflict area determination module, configured to perform route analysis on the transport routes of the unmanned transport equipment and the manned transport equipment to determine a route conflict area; the manned transport equipment enters the route conflict area through a first type entrance area, and the first type entrance area is provided with a traffic indication device; The traffic scheduling module is used to obtain the driving information of the unmanned transportation equipment, and to adjust the display state of the traffic indication device according to the driving information of the unmanned transportation equipment in combination with pre-configured state control rules, so as to schedule the traffic state of the transportation equipment.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the transportation equipment scheduling method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the transportation equipment scheduling method according to any one of claims 1 to 7 by executing the executable instructions.

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