Mobile carrier cooperative unloading method, system and device based on dynamic queue adjustment

Abstract

The application discloses a mobile carrier cooperative unloading method, system and equipment based on dynamic queue adjustment, and belongs to the technical field of automatic logistics. The specific method comprises dynamic queue initialization, queue capacity control, effectiveness verification, dynamic queue adjustment, dynamic queue priority update, flexible section dynamic adaptation, parallel operation control, and abnormality processing and fault tolerance mechanism. Through the three core mechanisms of dynamic maintenance of a chain relationship, real-time adjustment of a flexible section, and following synchronization control, efficient, safe and flexible cooperative unloading of a mobile carrier and multiple docking carriers is realized, which meets the scheduling requirements of high efficiency, flexibility and real-time in the automatic logistics scene, and solves the problems of low efficiency, resource waste and poor real-time performance in traditional static scheduling.

Description

Technical Field

[0001] This invention relates to a method, system, and equipment for collaborative unloading of mobile vehicles, and more particularly to a method, system, and equipment for collaborative unloading of mobile vehicles based on dynamic queue adjustment, belonging to the field of automated logistics technology. Background Technology

[0002] In automated logistics scenarios, mobile vehicles (large vehicles) move back and forth along fixed tracks, requiring multiple docking vehicles (small vehicles) to coordinate with them to complete unloading operations. Existing technologies have the following problems:

[0003] 1) Inefficient: The small vehicle must wait in a fixed position and cannot adjust the target according to the dynamic position of the large vehicle.

[0004] 2) Waste of resources: Because the car cannot reverse, path conflicts occur, making it difficult to make full use of the parallel capabilities of multiple cars.

[0005] 3) Poor real-time performance: Traditional static scheduling algorithms cannot adapt to the dynamic trajectory of large vehicles moving back and forth.

[0006] To address the above issues, existing static scheduling models are insufficient to meet the core requirements of dynamic coordination efficiency, resource utilization, and real-time response capabilities in automated logistics scenarios. In traditional methods, small vehicles are confined to fixed waiting positions, unable to flexibly adjust their operational targets based on the real-time movement trajectory of larger vehicles. This leads to frequent instances where small vehicles "cannot catch up" or "get stuck" during the large vehicle's round trip, severely hindering the continuity of the unloading process. Furthermore, static algorithms lag behind in responding to dynamic parameters such as the large vehicle's position and speed, making it difficult to handle trajectory changes caused by the large vehicle's round trips. This easily triggers path conflicts or operational interruptions, seriously affecting the stability and efficiency of overall logistics scheduling. Therefore, an innovative method is urgently needed that can dynamically adjust the small vehicle queue, adapt to the large vehicle's movement trajectory, and optimize multi-vehicle parallel coordination to overcome the technical bottlenecks of traditional static scheduling. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] The technical problem to be solved by this invention is to address the problems of low efficiency, resource waste, and poor real-time performance in the existing static scheduling in the scenario of collaborative unloading of mobile vehicles (large vehicles) and multiple docking vehicles (small vehicles).

[0009] (II) Technical Solution

[0010] To address the aforementioned technical problems, this invention provides a method for coordinated unloading of goods from mobile vehicles based on dynamic queue adjustment, comprising the following steps:

[0011] S1. Dynamic queue initialization: Establish the interlocking relationship between the mobile vehicle and multiple docking vehicles, construct the initial operation queue and clarify the priority of the cooperating entities;

[0012] S2. Queue capacity control: The queue length is dynamically adjusted by limiting the maximum number of following docking vehicles and using a cyclic waiting mechanism.

[0013] S3. Dynamic queue adjustment: Based on the real-time position and speed parameters of the mobile vehicle, the operation sequence and following path of the docking vehicle are dynamically updated to realize the dynamic reorganization of the queue;

[0014] S4. Flexible segment dynamic adaptation: Adjust the offset of the flexible segment of the docking vehicle in real time according to the dynamic trajectory of the moving vehicle.

[0015] S5. Collaborative unloading execution: Multiple docking vehicles in the queue enter the operation state in sequence according to priority, realizing sequential parallel unloading; through the sequential management of the chain queue, it is ensured that after the previous vehicle completes unloading, the next vehicle automatically updates its parameters and enters the operation position, making full use of the multi-vehicle parallel capability;

[0016] S6. Queue Flow Management: Vehicles that have completed unloading leave the queue, and newly requested vehicles join the queue, forming a cyclical operation process.

[0017] The above methods reduce vehicle waiting time and improve overall unloading efficiency by prioritizing and sequentially unloading in parallel; they adapt to the complex movement trajectories of mobile vehicles by dynamically adjusting real-time position and speed, thus enhancing flexibility; and they reduce the need for manual intervention and lower management costs through automated management of cyclical operation processes.

[0018] Furthermore, in the dynamic queue initialization step, an initial queue of mobile vehicles and docking vehicles is established through the interlocking relationship management function, and real-time verification ensures that the mobile vehicles are in place and the interlocking queues are not empty, thus ensuring that the queues have a basis for coordination. The real-time verification mechanism ensures the reliability of the initial queues and avoids operation interruptions caused by mobile vehicles not being in place or queues being empty.

[0019] Furthermore, the dynamic queue adjustment step includes: when the interlocking docking of the mobile vehicle and the currently docking vehicle ends, automatically triggering the next docking vehicle to enter follow mode, ensuring that the queue is dynamically sorted according to "first-come, first-served + real-time priority", and realizing dynamic updating of queue priority. Realizing dynamic updating of queue priority ensures that high-priority tasks (such as urgent unloading needs) can be inserted into the queue immediately, optimizing task scheduling response speed.

[0020] Furthermore, in the flexible segment dynamic adaptation step, the docking vehicle is allowed to move flexibly within a non-fixed trajectory, adapting to the reciprocating movement of the moving vehicle, enabling the trolley to enter a dynamic adjustment mode and avoiding path conflicts caused by the reciprocating movement of the main vehicle. Through the adjustment of the flexible segment offset, the docking vehicle can flexibly adapt to the non-fixed trajectory of the moving vehicle, avoiding collisions or unloading failures caused by trajectory deviations.

[0021] Furthermore, the mobile vehicle collaborative unloading method also includes an exception handling mechanism. This mechanism ensures the stability of the dynamic queue through state reset and thread management, and clears flexible segments and following states in abnormal situations. The exception handling mechanism ensures system stability by automatically resetting the state in case of vehicle failure or communication interruption, avoiding queue chaos and ensuring operational continuity.

[0022] Furthermore, the mobile vehicle collaborative unloading method described herein displays the following status, flexible section offset, and safety zone information of the docking vehicle in real time through a configuration graphical table. Visualizing the vehicle status and safety zone through the configuration graphical table helps operators monitor the operation progress in real time, facilitates manual intervention, and improves human-machine collaboration efficiency.

[0023] Furthermore, the aforementioned mobile vehicle collaborative unloading method is applied to the pickling process of pickled vegetables, specifically including:

[0024] Raw material feeding stage: The material feeding machine and multiple transfer vehicles work together to perform the material feeding task;

[0025] Semi-finished product turnover stage: The material feeding machine, the pool lifting machine, and multiple transfer vehicles work together to perform the turnover task;

[0026] Finished product removal process: The removal machine and multiple transfer vehicles work together to perform the removal task.

[0027] The collaborative unloading method was applied to the pickling process (such as raw material entering the pool, semi-finished product turning over the pool, and finished product being removed from the pool), which verified the universality of the technical solution and significantly improved the automation level of the pickling process, reducing manual handling costs.

[0028] On the other hand, the present invention also provides a collaborative unloading system for implementing the above-described mobile vehicle collaborative unloading method based on dynamic queue adjustment, comprising:

[0029] The chain relationship management module is used to establish the chain relationship between mobile vehicles and docking vehicles and dynamically control the queue capacity;

[0030] The dynamic follow control module is used to synchronously adjust the following status of the docking vehicle based on the real-time parameters of the moving vehicle.

[0031] The flexible trajectory adaptation module is used to calculate and adjust the offset of the flexible segment of the docking vehicle in real time based on the dynamic trajectory of the moving vehicle.

[0032] Through modular design (interlocking relationship management, dynamic following control, and flexible trajectory adaptation), centralized control of multi-vehicle collaborative operations is achieved, reducing system complexity and facilitating maintenance and expansion.

[0033] Furthermore, the chain relationship management module is also used to verify the positioning status of the mobile vehicle and the non-empty status of the queue; the dynamic follow control module is also used to automatically trigger the next vehicle to enter the follow state after the current docking vehicle completes unloading. This further enhances system reliability, for example, by ensuring seamless workflow and reducing manual intervention through queue non-empty verification and automatic triggering mechanisms.

[0034] Finally, the present invention also provides an apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the aforementioned mobile vehicle collaborative unloading method. Implementing the method steps through standardized equipment (such as a computer program) provides a hardware foundation for the rapid deployment and large-scale application of the technical solution, reducing implementation costs.

[0035] (III) Beneficial Effects

[0036] The above-described technical solution of the present invention has the following advantages:

[0037] The entire method of this invention is centered on "dynamic response to the trajectory of the large vehicle (mobile vehicle)". Through the closed-loop logic of "initialization and link establishment → real-time parameter adjustment → sequential parallel operation → cyclic flow and fault tolerance", it realizes efficient, safe and flexible collaborative unloading of the large vehicle and multiple small vehicles (docking vehicles) in mobile scenarios, which meets the scheduling requirements of efficient, flexible and real-time scheduling in automated logistics scenarios.

[0038] This invention achieves efficient collaborative unloading of mobile vehicles (large vehicles) and multiple docking vehicles (small vehicles) through three core mechanisms: dynamic maintenance of interlocking relationships, real-time adjustment of flexible sections, and follow-up synchronous control. This solves the problems of low efficiency, resource waste, and poor real-time performance in traditional static scheduling.

[0039] In addition to the technical problems solved by the present invention, the technical features of the technical solutions constituted by the present invention, and the advantages brought about by the technical features of these technical solutions as described above, other technical features of the present invention and the advantages brought about by these technical features will be further explained in conjunction with the accompanying drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the collaborative unloading system of the present invention.

[0042] Figure 2 This is a schematic diagram of the electronic device structure of the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] Example 1

[0046] A method for collaborative unloading of goods from mobile vehicles based on dynamic queue adjustment includes the following steps:

[0047] S1. Dynamic queue initialization: Establish the interlocking relationship between the mobile vehicle and multiple docking vehicles, construct the initial operation queue and clarify the priority of the cooperating entities;

[0048] S2. Queue capacity control: The queue length is dynamically adjusted by limiting the maximum number of following docking vehicles and using a cyclic waiting mechanism.

[0049] S3. Dynamic queue adjustment: Based on the real-time position and speed parameters of the mobile vehicle, dynamically update the operation sequence and following path of the docking vehicle;

[0050] S4. Flexible segment dynamic adaptation: Adjust the offset of the flexible segment of the docking vehicle in real time according to the dynamic trajectory of the moving vehicle.

[0051] S5. Collaborative unloading execution: Multiple docking vehicles in the queue enter the operation state in sequence according to priority, realizing sequential parallel unloading;

[0052] S6. Queue Flow Management: Vehicles that have completed unloading leave the queue, and newly requested vehicles join the queue, forming a cyclical operation process.

[0053] More specifically, in the dynamic queue initialization step, an initial queue of mobile vehicles and docking vehicles is established through the interlocking relationship management function, and real-time verification ensures that the mobile vehicle is in position and the interlocking queue is not empty. The dynamic queue adjustment step includes: when the interlocking docking of the mobile vehicle and the current docking vehicle ends, the next docking vehicle is automatically triggered to enter the follow mode, realizing dynamic updating of queue priority. In the flexible segment dynamic adaptation step, the docking vehicle is allowed to move flexibly within a non-fixed trajectory, adapting to the back-and-forth movement of the mobile vehicle.

[0054] The mobile vehicle collaborative unloading method based on dynamic queue adjustment described in this embodiment also includes an exception handling mechanism. This mechanism ensures the stability of the dynamic queue through state reset and thread management, and clears the flexible segment and following state in abnormal situations. The unloading method displays the following state of the docking vehicle, the flexible segment offset, and the safety zone information in real time through a configuration graphical table.

[0055] The specific implementation method of the method flow is as follows:

[0056] ┌───────────────┐

[0057] │Initialization Phase│

[0058] │ (setLinkage.pou) │

[0059] └───────┬───────┘

[0060] │ 1. Establish a chain relationship (large vehicle, small vehicle queue)

[0061] │ 2. Limit the maximum number of cars (to avoid collisions)

[0062] │ 3. Verify that the main vehicle is in place and the queue of auxiliary vehicles is not empty.

[0063] ▼

[0064] ┌───────────────┐

[0065] │Dynamic Queue Adjustment│

[0066] │(follow.pou + flex.pou)│

[0067] └───────┬───────┘

[0068] │ 1. The vehicle queue is sorted by priority (the first element of the queue is the currently operating vehicle).

[0069] │ 2. Real-time synchronization of the large vehicle's position / speed → Adjusting the following distance of the small vehicle

[0070] │ 3. Dynamically set the offset of the flexible segment to adapt to the trajectory of large vehicles.

[0071] │ 4. After the preceding cart completes its turn, the queue automatically reorders.

[0072] ▼

[0073] ┌───────────────┐

[0074] │Collaborative Unloading Execution│

[0075] └───────┬───────┘

[0076] │ 1. Verify that the trolley has reached the target position.

[0077] │ 2. Confirm the completion of the flexible segment movement (error check)

[0078] │ 3. Trigger unloading operation (multiple vehicles in parallel, in queue order)

[0079] ▼

[0080] ┌───────────────┐

[0081] │Queue Flow and Exception Handling│

[0082] └───────┬───────┘

[0083] │ 1. Homework completed → Cars depart from the queue

[0084] │ 2. New applications for car platooning

[0085] │ 3. In case of an exception: Clear the state (flexible segment / following) + terminate the thread (synchronize the position and speed of the main vehicle to the auxiliary vehicle).

[0086] ▼

[0087] (Loop: Continuously receive new tasks and dynamically adjust the queue)

[0088] The core module interaction relationships are as follows:

[0089] setLinkage.pou: Responsible for "creating a queue" (defining the chain relationship) and "managing the queue" (adding and deleting members). The length of the chain queue can be dynamically modified to control the number of small cars chained with the large car.

[0090] follow.pou: Responsible for "following the group" (synchronizing the distance / speed of the smaller vehicle following the larger vehicle).

[0091] flex.pou: Responsible for "queue adjustment" (dynamic adaptation of flexible segment offset to accommodate changes in the trajectory of the large vehicle), kicking out vehicles that normally end the chain or abnormally cancel the chain from the chain queue.

[0092] Example 2

[0093] This embodiment is based on Embodiment 1, applying the unloading method of the present invention to the raw material transfer and finished product transportation stages in the pickling process of pickled vegetables, including three processes: raw material entering the pool, semi-finished product turning over the pool, and finished product removing from the pool.

[0094] Raw material feeding into the pool: The upper system generates a material feeding task. The material feeding task is performed by one material feeding machine (large trolley) and multiple transfer vehicles (small trolleys). After the large trolley arrives at the designated pickling pool, it moves back and forth on the pickling pool according to a predetermined strategy. The small trolleys cycle from the conveyor line to the pickling pool and are interlocked with the large trolley to unload the raw materials into the pickling pool.

[0095] Semi-finished product turnover: The upper-level system generates turnover tasks. The turnover task is performed by one feeding machine (large trolley), one turnover machine (large trolley), and multiple transfer vehicles (small trolleys). After the turnover machine and feeding machine arrive at the designated pickling tank, they move back and forth on the pickling tank according to a predetermined strategy. The turnover machine is responsible for scooping out the semi-finished products. The small trolleys are first interlocked with the turnover machine and are responsible for transferring the semi-finished products to other pickling tanks. After being transferred to other pickling tanks, they are interlocked with the feeding machine to unload the semi-finished products into the pickling tank.

[0096] Finished product pickling tank removal: The upper-level system generates the pickling tank removal task. The pickling tank removal task is performed by one pickling tank removal machine (large trolley) and multiple transfer vehicles (small trolleys). After the large trolley arrives at the designated pickling tank, it moves back and forth on the pickling tank according to the established strategy. The small trolleys are linked with the pickling tank removal machine to pick up materials and transport them to the finished product packaging line.

[0097] Example 3

[0098] This embodiment discloses a collaborative unloading system that implements the mobile vehicle collaborative unloading method based on dynamic queue adjustment described in Embodiment 1, such as... Figure 1 As shown, it includes:

[0099] The chain relationship management module is used to establish the chain relationship between mobile vehicles and docking vehicles and dynamically control the queue capacity;

[0100] The dynamic follow control module is used to synchronously adjust the following status of the docking vehicle based on the real-time parameters of the moving vehicle.

[0101] The flexible trajectory adaptation module is used to calculate and adjust the offset of the flexible segment of the docking vehicle in real time based on the dynamic trajectory of the moving vehicle.

[0102] More specifically, the chain relationship management module is also used to verify the positioning status of the mobile vehicle and the non-empty status of the queue; the dynamic follow control module is also used to automatically trigger the next vehicle to enter the follow state after the current docking vehicle completes unloading.

[0103] Example 4

[0104] This embodiment discloses an electronic device, such as... Figure 2 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the method described in Embodiment 1. It should be noted that the memory and processor are conventional products in the prior art and can be used directly. The computer program can be designed using existing technology based on this application.

[0105] This invention can dynamically maintain the trolley queue, adjust the relative position and operation sequence of trolleys and trucks in real time, and support multiple trolleys to unload in parallel and collaboratively; adapt to the dynamic trajectory of trucks moving back and forth, avoid path conflicts, and improve the flexibility of the operation process; optimize overall operation efficiency, reduce resource idle time and waiting time, and give full play to the parallel operation capability of multiple vehicles; enhance the system's real-time response capability to dynamic scenarios, and ensure operation stability through exception handling and fault tolerance mechanisms; meet the efficient, flexible, and real-time scheduling requirements in automated logistics scenarios, and realize the dynamic optimization of the entire process of collaborative unloading of mobile vehicles.

[0106] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for coordinated unloading of mobile vehicles based on dynamic queue adjustment, characterized in that, Includes the following steps: S1. Dynamic queue initialization: Establish the interlocking relationship between the mobile vehicle and multiple docking vehicles, construct the initial operation queue and clarify the priority of the cooperating entities; S2. Queue capacity control: The queue length is dynamically adjusted by limiting the maximum number of following docking vehicles and using a cyclic waiting mechanism. S3. Dynamic queue adjustment: Based on the real-time position and speed parameters of the mobile vehicle, dynamically update the operation sequence and following path of the docking vehicle; S4. Flexible segment dynamic adaptation: Adjust the offset of the flexible segment of the docking vehicle in real time according to the dynamic trajectory of the moving vehicle. S5. Collaborative unloading execution: Multiple docking vehicles in the queue enter the operation state in sequence according to priority, realizing sequential parallel unloading; S6. Queue Flow Management: Vehicles that have completed unloading leave the queue, and newly requested vehicles join the queue, forming a cyclical operation process; In the dynamic queue initialization step, an initial queue of mobile vehicles and docking vehicles is established through the interlocking relationship management function, and real-time verification is used to ensure that the mobile vehicles are in place and the interlocking queues are not empty. The dynamic queue adjustment steps include: when the chain docking between the mobile vehicle and the currently docking vehicle ends, the next docking vehicle is automatically triggered to enter the following state, thereby realizing dynamic updating of the queue priority; In the flexible segment dynamic adaptation step, the docking vehicle is allowed to move flexibly within a non-fixed trajectory, and the adapting mobile vehicle moves back and forth. It is applied to the pickling process of pickled vegetables, specifically including: Raw material feeding stage: The material feeding machine and multiple transfer vehicles work together to perform the material feeding task; Semi-finished product turnover stage: The material feeding machine, the pool lifting machine, and multiple transfer vehicles work together to perform the turnover task; Finished product removal process: The removal machine and multiple transfer vehicles work together to perform the removal task.

2. The mobile vehicle collaborative unloading method based on dynamic queue adjustment according to claim 1, characterized in that: It also includes an exception handling mechanism, which ensures the stability of the dynamic queue through state reset and thread management, and clears the flexible segment offset and follow state in case of an exception.

3. The mobile vehicle collaborative unloading method based on dynamic queue adjustment according to claim 2, characterized in that: The configuration graphical table displays the following status of the docking vehicle, the offset of the flexible section, and the information on the safe zone in real time.

4. A collaborative unloading system for implementing the mobile vehicle collaborative unloading method based on dynamic queue adjustment as described in any one of claims 1-3, characterized in that, include: The chain relationship management module is used to establish the chain relationship between mobile vehicles and docking vehicles and dynamically control the queue capacity; The dynamic follow control module is used to synchronously adjust the following status of the docking vehicle based on the real-time parameters of the moving vehicle. The flexible trajectory adaptation module is used to calculate and adjust the offset of the flexible segment of the docking vehicle in real time based on the dynamic trajectory of the moving vehicle.

5. The collaborative unloading system according to claim 4, characterized in that: The chain relationship management module is also used to verify the positioning status of the mobile vehicle and the non-empty status of the queue; the dynamic follow control module is also used to automatically trigger the next vehicle to enter the follow state after the current docking vehicle completes unloading.

6. An apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method described in any one of claims 1-3.

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