Multi-vehicle management system and method, storage medium

Abstract

This invention provides a multi-vehicle management system and method, as well as a storage medium, relating to the field of intelligent transportation technology. In the multi-vehicle management system, a central dispatch module, in response to a current task, allocates a target mechanical work vehicle from multiple mechanical work vehicles to perform the current task. The target transport vehicle is used to: obtain the anchor point area of ​​the target mechanical work vehicle based on its vehicle information, and drive to the anchor point area; obtain relative position information with the target mechanical work vehicle and the centerline of the road it is currently on within the anchor point area; determine a target parking position based on the target transport vehicle's current pose information, relative position information, and the direction of the centerline of the road it is currently on, and drive to and park at the target parking position; the target mechanical work vehicle is used to perform the current task on the target transport vehicle. This invention avoids the risk of the target transport vehicle making a parking error.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, specifically to a multi-vehicle management system and method, and a storage medium. Background Technology

[0002] With the development of autonomous driving technology, single-vehicle autonomous driving has been widely adopted and applied. In many scenarios, autonomous vehicles can replace manual labor, reducing manpower consumption. For example, in smart logistics and industrial automation scenarios, autonomous trucks can be used in closed or semi-closed operating environments. Autonomous trucks can work in conjunction with mobile machinery (such as reach stackers) to complete the transfer of goods.

[0003] However, when autonomous trucks work in collaboration with mobile machinery, the two cannot accurately locate each other, resulting in low cargo transfer efficiency, poor flexibility, and even potential safety accidents. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-vehicle management system and method, and a storage medium, which realizes the precise positioning of target mechanical operation vehicles among multiple mechanical operation vehicles, as well as the precise association between target mechanical operation vehicles and target transport vehicles, fundamentally avoiding the risk of target transport vehicles parking incorrectly; and determines the centimeter-level positioning position of target mechanical operation vehicles, solving the problem of insufficient accuracy caused by using GNSS positioning, and improving the centimeter-level relative position perception capability for subsequent safe parking.

[0005] To achieve the above objectives, the present invention provides a multi-vehicle management system, comprising: at least one transport vehicle, multiple mechanical operation vehicles, and a central dispatch module; The central scheduling module is used to respond to the current task by allocating a target mechanical operation vehicle from the plurality of mechanical operation vehicles to perform the current task, and sending the vehicle information of the target mechanical operation vehicle to the target transport vehicle; the current task corresponds to the target transport vehicle among the at least one transport vehicle; The target transport vehicle is used for: Based on the vehicle information of the target mechanical working vehicle, the anchor point area of ​​the target mechanical working vehicle is obtained, and the vehicle is driven to the anchor point area of ​​the target mechanical working vehicle. Within the anchor point area, acquire the relative position information with respect to the target mechanical vehicle, as well as the centerline of the road where it is currently located; Based on the current pose information of the target vehicle, the relative position information, and the direction of the centerline of the road it is currently on, the target parking position is determined, and the vehicle is driven to the target parking position and parked. The target mechanical operation vehicle is used to perform the current task on the target transport vehicle.

[0006] The present invention also provides a multi-vehicle management method, applied to the above-mentioned multi-vehicle management system, the method comprising: In response to the current task, the central dispatch module allocates a target mechanical operation vehicle from the plurality of mechanical operation vehicles to perform the current task, and sends vehicle information containing the target mechanical operation vehicle to the target transport vehicle; the current task corresponds to the target transport vehicle among the at least one transport vehicle; The target transport vehicle obtains the anchorage area of ​​the target mechanical work vehicle based on the vehicle information of the target mechanical work vehicle, and drives to the anchorage area of ​​the target mechanical work vehicle. Within the anchor point area, acquire the relative position information with respect to the target mechanical vehicle, as well as the centerline of the road where it is currently located; Based on the current pose information of the target vehicle, the relative position information, and the direction of the centerline of the road it is currently on, the target parking position is determined, and the vehicle is driven to the target parking position and parked. The target mechanical operation vehicle performs the current task on the target transport vehicle.

[0007] The present invention also provides a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored, and which, when executed by a processor, performs the steps of the cross-border data transmission method described above.

[0008] In one embodiment, the transport vehicle is equipped with a UWB module, and each of the mechanical operation vehicles is equipped with a corresponding UWB module. The target transport vehicle is used for: The distance between the UWB module and the target mechanical work vehicle is obtained by bidirectional distance measurement between the UWB module and the UWB module on the target mechanical work vehicle. Based on the received UWB signal from the target mechanical work vehicle, the azimuth angle of the target mechanical work vehicle relative to the front of the target transport vehicle; The relative position information includes: the distance between the target transport vehicle and the target mechanical operation vehicle, and the azimuth angle of the target mechanical operation vehicle relative to the front of the target transport vehicle.

[0009] In one embodiment, the target vehicle is used to: determine the target parking location that satisfies the following constraints based on the current pose information of the target vehicle, the relative position information, and the centerline direction of the road it is currently on; The constraints include: the line connecting the target transport vehicle and the target mechanical work vehicle is perpendicular to the centerline direction; the target transport vehicle is located outside the dynamic safety zone of the target mechanical work vehicle; and the path from the target transport vehicle to the target parking position has no collision risk.

[0010] In one embodiment, the dynamic safety zone of the target mechanical operation vehicle is obtained as follows: The vehicle body size information, load size information, and posture and motion state information of the robotic arm of the target mechanical operation vehicle are obtained. Based on the posture and motion state information of the robotic arm and the size information of the load, the maximum range of motion of the robotic arm after loading the load is determined; By superimposing the vehicle body size information onto the maximum range of motion of the robotic arm, the dynamic safety zone of the target mechanical operation vehicle is obtained.

[0011] In one embodiment, the dynamic safety zone of the target mechanical operation vehicle is obtained by superimposing the vehicle body size information onto the maximum range of motion of the robotic arm, including: The dynamic motion envelope of the target mechanical operation vehicle is obtained by superimposing the vehicle body size information with the maximum range of motion. Based on the dynamic motion envelope and the preset safety distance, the dynamic safety zone of the target mechanical operation vehicle is obtained.

[0012] In one embodiment, the target transport vehicle is used for: Based on the vehicle information of the target mechanical operation vehicle received, and the identification information contained in each UWB signal received within the anchor point area, the target mechanical operation vehicle is determined from among the multiple mechanical operation vehicles.

[0013] In one embodiment, the motion state information of the robotic arm indicates the maximum range of motion of the robotic arm in each direction.

[0014] In one embodiment, the target transport vehicle is used to: query the anchor point area corresponding to the target mechanical operation vehicle in a preset electronic map based on the vehicle information of the target mechanical operation vehicle. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the multi-vehicle management system in the first embodiment of the present invention; Figure 2 This is a schematic diagram of the target transport vehicle traveling from the anchor point area to the target parking position in the first embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the dynamic safety zone for determining the target mechanical operating vehicle in the first embodiment of the present invention. Detailed Implementation

[0016] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0017] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0018] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0019] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0020] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to include the meaning of “or / and” unless otherwise expressly stated herein.

[0021] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outer", "inner", "outer", "inner", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0022] While autonomous trucks can work in conjunction with mobile construction machinery, they have the following drawbacks: 1. After entering the set scenario, the autonomous truck stops at a fixed loading and unloading station according to the preset path, and the operating machinery then moves to the station to carry out the operation. This method cannot adapt to the working conditions of dynamic movement of operating machinery, and is inefficient and lacks flexibility.

[0023] 2. Autonomous trucks use onboard sensors (such as lidar, cameras, etc.) to detect the nearest working machinery and adjust their parking position accordingly; however, when multiple machines with similar appearances are working at the same time, the autonomous truck may park in front of the wrong machine, causing the mission to fail or even causing a safety accident.

[0024] 3. The operating machinery sends its location coordinates to the autonomous truck via communication methods (such as 5G), and the vehicle navigates to the vicinity of these coordinates. This solution is limited by positioning accuracy (civilian-grade positioning is typically meter-level). However, in warehouse indoor scenarios, due to multipath effects, satellite signal blockage, and other factors, the positioning error can be as high as several meters, failing to meet the centimeter-level safe docking requirements between vehicles and machinery. Furthermore, coordinates alone are insufficient to confirm a specific target among multiple machines at close range.

[0025] The first embodiment of this invention relates to a multi-vehicle management system, please refer to... Figures 1 to 3 The system includes: at least one transport vehicle 1, multiple mechanical operation vehicles 2, and a central dispatch module 3. The transport vehicle 1 is an autonomous vehicle used for loading loads, such as containers. The mechanical operation vehicles 2 are load-loading and unloading machinery, such as reach stackers or forklifts. The transport vehicle 1 and mechanical operation vehicles 2 are used in indoor environments, such as warehouses. The central dispatch module 3 can be a cloud server or a control terminal deployed indoors, such as a laptop, desktop computer, or portable tablet. The central dispatch module 3 can wirelessly connect to the transport vehicle 1 and mechanical operation vehicles 2 indoors, using communication methods such as Wi-Fi or 5G. Each transport vehicle is equipped with a UWB module, and each mechanical operation vehicle is equipped with a corresponding UWB module. The UWB module includes a UWB base station or a tag.

[0026] The central dispatch module 3 is used to respond to the current task by allocating a target mechanical operation vehicle M1 from the plurality of mechanical operation vehicles 2 to perform the current task, and sending vehicle information containing the target mechanical operation vehicle M1 to the target transport vehicle M2; the current task corresponds to the target transport vehicle M2 in the at least one transport vehicle 1; The target transport vehicle M2 is used for: Based on the vehicle information of the target mechanical work vehicle M1, the anchor point area of ​​the target mechanical work vehicle M1 is obtained, and the vehicle travels to the anchor point area of ​​the target mechanical work vehicle M1. Within the anchor point area, obtain the relative position information with respect to the target mechanical operating vehicle M1, as well as the center line of the road where it is currently located; Based on the current pose information of the target vehicle M2, the relative position information, and the centerline direction of the road it is currently on, the target parking position is determined, and the vehicle is driven to the target parking position and parked; wherein, the pose information can be obtained through the IMU module, wheel speed meter, and GNSS module in the target vehicle M2.

[0027] The target mechanical operation vehicle M1 is used to perform the current task on the target transport vehicle M2.

[0028] Specifically, when the transport vehicle 1 needs to perform a transport task indoors, it sends a task request to the central dispatch module 3 based on the current task. For the central dispatch module 3, after receiving the task request sent by the transport vehicle 1, it determines the target mechanical operation vehicle M1 that can perform the current task from the mechanical operation vehicles 2 that are currently idle, based on the task information of the current task contained in the task request. The task information, for example, indicates the size and weight of the goods to be loaded and unloaded. After determining the target mechanical operation vehicle M1 to perform the current task, the central dispatch module 3 sends the vehicle information of the target mechanical operation vehicle M1 to the target transport vehicle M2.

[0029] The target transport vehicle M2, based on the vehicle information of the target mechanical work vehicle M1, queries a preset electronic map to obtain the anchor point area corresponding to the target mechanical work vehicle M1. In other words, the preset electronic map stores a one-to-one binding relationship between each mechanical work vehicle 2 and an anchor point area; the vehicle information of the target mechanical work vehicle M1 includes at least its identification code; thus, the target transport vehicle M2 can query the preset electronic map to obtain the anchor point area bound to the target mechanical work vehicle M1. The preset electronic map is an indoor planar map, and the anchor point area for each mechanical work vehicle 2 is a fixed indoor area corresponding to that mechanical work vehicle 2.

[0030] Subsequently, the target vehicle M2 obtains its current position (x1, x2) on the preset electronic map, and then plans a travel path from its current position (x1, x2) to the anchor point area bound to the target mechanical work vehicle M1 on the preset electronic map, and travels to the anchor point area of ​​the target mechanical work vehicle M1 according to the travel path; since the anchor point area is a relatively large area, the positioning accuracy requirement for the target vehicle M2 is not high, and it only needs to reach the meter level.

[0031] Each mechanical operation vehicle 2's UWB module will periodically emit UWB signals, which also include the identification information of each mechanical operation vehicle.

[0032] After the target transport vehicle M2 enters the anchorage area of ​​the target mechanical work vehicle M1, the target mechanical work vehicle M1 is located within a certain range around the target transport vehicle M2. The target transport vehicle M2 begins to scan for wireless signals, analyzes the identification information in the multiple UWB signals it receives, and compares it with the identification code in the vehicle information of the target mechanical work vehicle sent by the central dispatch module 3. In this way, the target mechanical work vehicle M1 is identified among the multiple mechanical work vehicles 2. At this time, a notification message indicating that the target mechanical work vehicle M1 has been locked can be sent to the central dispatch module 3.

[0033] Subsequently, the target transport vehicle M2 uses its own UWB module to perform bidirectional distance measurement with the target mechanical operation vehicle M1's UWB module to obtain the distance between them.

[0034] The target transport vehicle M2 can also be based on the azimuth angle of the target mechanical work vehicle M1 relative to the front of the target transport vehicle M2, which is received from the UWB signal of the source target mechanical work vehicle.

[0035] For example, the target vehicle M2 can acquire the centimeter-level relative distance and azimuth between the target vehicle M2 and the target mechanical operation vehicle M1 in real time based on ultra-wideband (UWB) two-way ranging and angle measurement technology, or GNSS carrier phase differential (RTK) technology, or a fusion of the two.

[0036] The relative position information between the target mechanical work vehicle M1 and the target transport vehicle M2 includes: the distance between the target mechanical work vehicle M1 and the target transport vehicle M2, and the azimuth angle of the target mechanical work vehicle M1 relative to the front of the target transport vehicle M2. For example, the distance can be 12.35 meters and the azimuth angle can be 45°.

[0037] The target vehicle M2 is used to: determine the target parking position that satisfies the following constraints based on the current pose information of the target vehicle M2, the relative position information, and the centerline direction of the road it is currently on; The constraints include: the line connecting the target transport vehicle M2 and the target mechanical work vehicle M1 is perpendicular to the centerline direction; the target transport vehicle M2 is located outside the dynamic safety zone of the target mechanical work vehicle M1; and there is no collision risk on the path from the target transport vehicle M2 to the target parking position.

[0038] Specifically, after the target transport vehicle M2 enters the anchor point area of ​​the target mechanical work vehicle M1, it first obtains the dynamic safety area of ​​the target mechanical work vehicle M1. The dynamic safety area indicates the current possible range of activity of the target mechanical work vehicle M1. Therefore, the parking position of the target transport vehicle M2 should avoid contact with the dynamic safety area of ​​the target mechanical work vehicle M1.

[0039] The target vehicle M2 can obtain the centerline direction of the road it is currently on from a preset electronic map or identify lane lines in real time through the environmental perception sensors it is equipped with.

[0040] A positioning coordinate system is constructed with the target vehicle M2's current location as the origin, the centerline of the road as the X-axis, and the Y-axis perpendicular to the X-axis and pointing towards the target mechanical vehicle M1. The relative position information indicates the position of the target mechanical vehicle M1 relative to the target vehicle M2. Based on this relative position information, the position of the target mechanical vehicle M1 can be transformed into the positioning coordinate system, and the dynamic safety zone of the target mechanical vehicle M1 can be marked in the positioning coordinate system. Subsequently, a target parking position can be planned on the current road in the positioning coordinate system. The line connecting the target parking position and the target mechanical vehicle M1 is perpendicular to the centerline of the road, that is, parallel to the Y-axis of the positioning coordinate system.

[0041] The target parking location can be quickly solved using numerical iterative methods (such as gradient descent) or geometric analytical methods. Furthermore, the location of the target vehicle M2 can be predicted at multiple future times to determine whether the planned target parking location is reasonable, and then the final target parking location can be optimized.

[0042] The projected length of the line connecting the target parking location and the target mechanical vehicle M1 exceeds the dynamic safety zone of the target mechanical vehicle M1; then the coordinates of the target parking location in the preset electronic location map are obtained, thus obtaining the final coordinate position of the target parking location.

[0043] The target vehicle M2 then plans a driving path from its current location to the target parking position. This driving path can be a smooth curve. Based on this driving path, it travels to the target parking position. Then, based on the current heading angle of the target vehicle M2 obtained from the positioning sensor, it adjusts its heading to align with the centerline of the current road. At this point, the target vehicle M2 has completed the parking process. For an example, please refer to... Figure 2The target transport vehicle M2 has moved from the anchor point area Z1 to the target parking position, which is outside the dynamic safety area Z2 of the target mechanical operation vehicle M1, and the direction of the front of the target transport vehicle M2 is consistent with the direction X1 of the center line of the road it is currently on.

[0044] After the target transport vehicle M2 stops, it can send the image of the target mechanical operation vehicle M1 to the central dispatch module 3 via a camera. The central dispatch module 3 can then determine whether the load loading and unloading task can be carried out. If the load loading and unloading task can be carried out, the central dispatch module 3 sends a control command indicating that the load loading and unloading task can be carried out to the target mechanical operation vehicle M1. Otherwise, it sends a control command indicating that the load loading and unloading task cannot be carried out to the target mechanical operation vehicle M1.

[0045] As the target transport vehicle M2 moves toward the target parking position, it can interact with the target mechanical work vehicle M1 via UWB signals to obtain the changes in its relative position with the target mechanical work vehicle M1 in real time. Based on the changes in the relative position, it can then correct the coordinates of the target parking position and adjust the real-time driving trajectory toward the target parking position, thereby achieving fine-tuning of the driving trajectory and improving the accuracy of the final target parking position reached.

[0046] Subsequently, the target mechanical operation vehicle M1 can determine the position of the target transport vehicle M2 directly in front of it based on the UWB module, and then perform loading and unloading tasks on the target transport vehicle M2, such as loading containers onto the target transport vehicle M2, or unloading containers from the target transport vehicle M2 and placing them in a designated position.

[0047] The method for obtaining the dynamic safety zone of the target mechanical operating vehicle M1 is as follows: Obtain the body size information of the target mechanical operation vehicle M1, the size information of the load it bears, and the posture and motion state information of the robotic arm of the target mechanical operation vehicle M1; Based on the posture and motion state information of the robotic arm and the size information of the load, the maximum range of motion of the robotic arm after loading the load is determined; By superimposing the vehicle body size information onto the maximum range of motion of the robotic arm, the dynamic safety zone of the target mechanical operation vehicle M1 is obtained.

[0048] Furthermore, by superimposing the vehicle body size information onto the maximum range of motion of the robotic arm, the dynamic safety zone of the target mechanical operation vehicle is obtained, including: The dynamic motion envelope of the target mechanical operation vehicle is obtained by superimposing the vehicle body size information with the maximum range of motion. Based on the dynamic motion envelope and the preset safety distance, the dynamic safety zone of the target mechanical operation vehicle is obtained.

[0049] Specifically, once the target transport vehicle M2 identifies the target mechanical work vehicle M1, it can send a request to the target mechanical work vehicle M1 to obtain relevant information. The target mechanical work vehicle M1 will provide its own vehicle dimensions, the dimensions of the load it needs to bear, and the posture and motion status information of its robotic arm. After the target transport vehicle M2 and the target mechanical work vehicle M1 confirm their identities, they can exchange information through V2X communication. The target mechanical work vehicle M1 is equipped with a state perception module, which can obtain information such as the current angle and current length of its robotic arm as the posture information of the robotic arm. The motion status information of the robotic arm represents the range of spatial angles that the robotic arm can rotate, including the horizontal rotation angle and the vertical movement angle. The dimensions of the load it needs to bear are, for example, the length, width, and height of a container.

[0050] The target mechanized vehicle M1 sends this information to the target transport vehicle M2, which then determines the maximum range of rotation for the robotic arm of the target mechanized vehicle M1 after clamping the load. This also needs to consider the load's clamping state, such as whether the container is parallel to the target mechanized vehicle M1 after being clamped by the robotic arm. Figure 3 As shown, after the robotic arm grips the container, the distance the container extends relative to the robotic arm is a part of the container's length. This is equivalent to extending the length of the robotic arm. With the rotation point of the target mechanical vehicle M1 as the rotation center, the outermost width line ab of the container is rotated at a set angle on the horizontal plane (i.e., the maximum space range for the robotic arm to rotate after gripping the load), resulting in a dynamic motion envelope. In some scenarios, the container may be perpendicular to the target mechanical vehicle M1 after being gripped by the robotic arm. In this case, the rotation center of the target mechanical vehicle M1 is taken as the rotation center, and the outermost length line of the container (i.e., Figure 3 The line (cd) in the middle is rotated on the horizontal plane at a set angle (i.e., the maximum spatial range of rotation of the robotic arm after clamping the load) to obtain a dynamic motion envelope.

[0051] The dynamic motion envelope is a circle centered on the rotation point of the target mechanical vehicle M1. Adding a preset safety distance to the radius of this dynamic motion envelope results in an expanded dynamic motion envelope, which can be understood as the dynamic safety zone of the target mechanical vehicle. For example, if the preset safety distance is 2 meters and the radius of the dynamic motion envelope is 3 meters, the final radius of the dynamic safety zone is 5 meters. The subsequent target parking position is then located at a distance greater than 5 meters from the target mechanical vehicle M1, for example, 5.2 meters.

[0052] Based on this embodiment, the central dispatch module assigns target mechanical operation vehicles to the current task and sends the vehicle information of the target mechanical operation vehicles to the target transport vehicles. The target transport vehicles then obtain the anchor point area bound to the target mechanical operation vehicles and drive to the anchor point area. Using UWB signals as an identity carrier, authentication is achieved. Within the anchor point area, the target mechanical operation vehicles are located based on UWB technology. Furthermore, leveraging the extremely high temporal resolution of UWB signals, centimeter-level ranging can be achieved, thereby determining the relative position information of the target mechanical operation vehicles relative to the target transport vehicles. In other words, UWB technology achieves both authentication and centimeter-level relative positioning. This enables precise positioning of the target mechanical operation vehicles among multiple mechanical operation vehicles, as well as precise association between the target mechanical operation vehicles and the target transport vehicles, fundamentally avoiding the risk of incorrect parking by the target transport vehicles. It also determines the centimeter-level positioning position of the target mechanical operation vehicles, solving the accuracy problem caused by using GNSS positioning and improving the centimeter-level relative position perception capability for subsequent safe parking.

[0053] The constraint that the line connecting the target transport vehicle and the target mechanical operation vehicle is perpendicular to the centerline direction is introduced, which ensures that the target transport vehicle has the same parking posture each time and the shortest distance relative to the target mechanical operation vehicle. This provides better conditions for subsequent loading and unloading tasks and improves the standardization level and operational efficiency of the overall loading and unloading operation.

[0054] Determining the target parking location based on dynamic safety zones ensures the relative positional safety between the target transport vehicle and the target mechanical operation vehicle, and guarantees safety without relying on sensors such as cameras and lidar on the target transport vehicle.

[0055] The second embodiment of the present invention relates to a multi-vehicle management method, applied to the multi-vehicle management system of the first embodiment; the multi-vehicle management method includes: In response to the current task, the central dispatch module allocates a target mechanical operation vehicle from the plurality of mechanical operation vehicles to perform the current task, and sends vehicle information containing the target mechanical operation vehicle to the target transport vehicle; the current task corresponds to the target transport vehicle among the at least one transport vehicle; The target transport vehicle obtains the anchorage area of ​​the target mechanical work vehicle based on the vehicle information of the target mechanical work vehicle, and drives to the anchorage area of ​​the target mechanical work vehicle. Within the anchor point area, acquire the relative position information with respect to the target mechanical vehicle, as well as the centerline of the road where it is currently located; Based on the current pose information of the target vehicle, the relative position information, and the direction of the centerline of the road it is currently on, the target parking position is determined, and the vehicle is driven to the target parking position and parked. The target mechanical operation vehicle performs the current task on the target transport vehicle.

[0056] Since the first embodiment corresponds to this embodiment, this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment remain valid in this embodiment, and the technical effects achievable in the first embodiment can also be achieved in this embodiment. To reduce repetition, they will not be repeated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0057] The third embodiment of the present invention relates to a computer-readable storage medium, which is a non-volatile or non-transient storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the multi-vehicle management method as described in the second embodiment.

[0058] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0059] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

Claims

1. A multi-vehicle management system, characterized by, include: At least one transport vehicle, multiple mechanical operation vehicles, and a central dispatch module; The central scheduling module is used to respond to the current task by allocating a target mechanical operation vehicle from the plurality of mechanical operation vehicles to perform the current task, and sending the vehicle information of the target mechanical operation vehicle to the target transport vehicle; the current task corresponds to the target transport vehicle among the at least one transport vehicle; The target transport vehicle is used for: Based on the vehicle information of the target mechanical working vehicle, the anchor point area of ​​the target mechanical working vehicle is obtained, and the vehicle is driven to the anchor point area of ​​the target mechanical working vehicle. Within the anchor point area, acquire the relative position information with respect to the target mechanical vehicle, as well as the centerline of the road where it is currently located; Based on the current pose information of the target vehicle, the relative position information, and the direction of the centerline of the road it is currently on, the target parking position is determined, and the vehicle is driven to the target parking position and parked. The target mechanical operation vehicle is used to perform the current task on the target transport vehicle.

2. The multi-vehicle management system of claim 1, wherein, The transport vehicle is equipped with a UWB module, and each of the mechanical operation vehicles is equipped with a corresponding UWB module. The target transport vehicle is used for: The distance between the UWB module and the target mechanical work vehicle is obtained by bidirectional distance measurement between the UWB module and the UWB module on the target mechanical work vehicle. Based on the received UWB signal from the target mechanical work vehicle, the azimuth angle of the target mechanical work vehicle relative to the front of the target transport vehicle; The relative position information includes: the distance between the target transport vehicle and the target mechanical operation vehicle, and the azimuth angle of the target mechanical operation vehicle relative to the front of the target transport vehicle.

3. The multi-vehicle management system of claim 1, wherein, The target vehicle is used to: determine the target parking position that satisfies the following constraints based on the current pose information of the target vehicle, the relative position information, and the centerline direction of the road it is currently on; The constraints include: the line connecting the target transport vehicle and the target mechanical work vehicle is perpendicular to the centerline direction; the target transport vehicle is located outside the dynamic safety zone of the target mechanical work vehicle; and the path from the target transport vehicle to the target parking position has no collision risk.

4. The multi-vehicle management system of claim 3, wherein, The dynamic safety zone of the target mechanical operating vehicle is obtained as follows: The vehicle body size information, load size information, and posture and motion state information of the robotic arm of the target mechanical operation vehicle are obtained. Based on the posture and motion state information of the robotic arm and the size information of the load, the maximum range of motion of the robotic arm after loading the load is determined; By superimposing the vehicle body size information onto the maximum range of motion of the robotic arm, the dynamic safety zone of the target mechanical operation vehicle is obtained.

5. The multi-vehicle management system according to claim 4, characterized in that, By superimposing the vehicle body size information onto the maximum range of motion of the robotic arm, the dynamic safety zone of the target mechanical operation vehicle is obtained, including: The dynamic motion envelope of the target mechanical operation vehicle is obtained by superimposing the vehicle body size information with the maximum range of motion. Based on the dynamic motion envelope and the preset safety distance, the dynamic safety zone of the target mechanical operation vehicle is obtained.

6. The multi-vehicle management system of claim 2, wherein, The target transport vehicle is used for: Based on the vehicle information of the target mechanical operation vehicle received, and the identification information contained in each UWB signal received within the anchor point area, the target mechanical operation vehicle is determined from among the multiple mechanical operation vehicles.

7. The multi-vehicle management system according to claim 2, characterized in that, The motion status information of the robotic arm indicates the maximum range of motion of the robotic arm in each direction.

8. The multi-vehicle management system according to claim 1, characterized in that, The target transport vehicle is used to: based on the vehicle information of the target mechanical operation vehicle, query the anchor point area corresponding to the target mechanical operation vehicle in a preset electronic map.

9. A multi-vehicle management method, characterized in that, The method, applied to a multi-vehicle management system according to any one of claims 1-8, comprises: In response to the current task, the central dispatch module allocates a target mechanical operation vehicle from the plurality of mechanical operation vehicles to perform the current task, and sends vehicle information containing the target mechanical operation vehicle to the target transport vehicle; the current task corresponds to the target transport vehicle among the at least one transport vehicle; The target transport vehicle obtains the anchorage area of ​​the target mechanical work vehicle based on the vehicle information of the target mechanical work vehicle, and drives to the anchorage area of ​​the target mechanical work vehicle. Within the anchor point area, acquire the relative position information with respect to the target mechanical vehicle, as well as the centerline of the road where it is currently located; Based on the current pose information of the target vehicle, the relative position information, and the direction of the centerline of the road it is currently on, the target parking position is determined, and the vehicle is driven to the target parking position and parked. The target mechanical operation vehicle performs the current task on the target transport vehicle.

10. A computer-readable storage medium, said computer-readable storage medium being a non-volatile storage medium or a non-transient storage medium, having stored thereon a computer program, characterized in that, The computer program is executed by the processor to perform the steps of the multi-vehicle management method as described in claim 9.

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