Method and apparatus for scheduling underground vehicles, and device and storage medium

Abstract

A method and apparatus for scheduling underground vehicles, and a device and a storage medium. The method comprises the steps of: extracting key points from an actual map, and connecting the key points by means of logical segments, so as to construct a virtual logical map, wherein the key points include: a vehicle meeting point, a loading point, an unloading point, and an annular region that causes vehicle meeting; establishing a logical path occupancy table on the basis of the virtual logical map; and on the basis of the logical path occupancy table, querying determination results indicating whether a logical path that an autonomous driving vehicle is to travel on is occupied, whether a vehicle occupying the path is traveling in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state, and then performing vehicle meeting coordination and scheduling.

Description

A method, device, equipment and storage medium for dispatching underground vehicles Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method, device, equipment and storage medium for dispatching underground vehicles. Background Art

[0002] Currently, the traditional underground mining industry faces many difficulties in transporting mineral materials due to the complex paths and harsh environment underground. For example, due to the complex paths and one-way streets underground, vehicles are prone to blockage and lockup when passing each other, which requires a huge cost to resolve. The existing technology for vehicle coordination in underground mines is inefficient and cannot completely solve the problem of vehicle passing and scheduling, which also affects the efficiency of material transportation.

[0003] Therefore, how to improve the coordination efficiency of autonomous vehicles is a technical problem that needs to be solved urgently.

[0004] Summary of the Invention

[0005] The main purpose of the present invention is to provide a method, device, equipment and storage medium for dispatching underground vehicles, which can enable autonomous driving vehicles to coordinate with each other in a one-way environment, thereby effectively avoiding congestion and loading. At the same time, it has strong adaptability to different scenarios, low cost and high coordination efficiency.

[0006] In a first aspect, the present application provides a method for dispatching underground vehicles, wherein the method comprises the steps of:

[0007] Extract key points from the actual map and connect them through logical segments to build a virtual logical map, where the key points include: meeting points, loading points, unloading points, and the circular area leading to the meeting.

[0008] Based on the virtual logical map, a logical path occupancy table is established;

[0009] According to the logical path occupancy table, it is queried whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state, and the meeting coordination scheduling is performed.

[0010] In combination with the first aspect above, as an optional implementation method, the autonomous driving vehicle plans a logical path in sections according to the content of the operation task instruction issued by the control platform;

[0011] Searching the logical path occupancy table to determine whether the logical path on which the autonomous driving vehicle is currently traveling is occupied;

[0012] When the path is not found, it is determined that the logical path is not occupied, and the planned logical path is issued so that the autonomous driving vehicle travels according to the planned logical path, and the logical path is released after the autonomous driving vehicle completes the travel.

[0013] When found, it is determined that the logical path is occupied, and it is determined whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle.

[0014] In conjunction with the first aspect above, as an optional implementation, when it is determined that the vehicle occupying the path is traveling in the same direction as the autonomous driving vehicle, the autonomous driving vehicle is coordinated to stop and wait, and when the vehicle occupying the path releases the occupied path, the autonomous driving vehicle is scheduled to travel on the released path;

[0015] When it is determined that the vehicle occupying the path is not traveling in the same direction as the autonomous driving vehicle, it is determined whether the autonomous driving vehicle is in a loaded state.

[0016] In conjunction with the first aspect above, as an optional implementation, when it is determined that the autonomous driving vehicle is in a loaded state, the autonomous driving vehicle is coordinated to stop and wait, and a non-loaded vehicle is dispatched to a turnaround point, freeing up the path occupied by the non-loaded vehicle;

[0017] When it is determined that the autonomous driving vehicle is in a non-loaded state, the autonomous driving vehicle is dispatched to enter a meeting point, and the occupied path is released to perform meeting coordination scheduling.

[0018] In combination with the first aspect above, as an optional implementation method, similar paths and non-entry meeting points are constructed according to the virtual logical map to optimize the coordinated scheduling of vehicles.

[0019] In combination with the first aspect above, as an optional implementation method, the actual map path corresponding to each logical segment is calculated based on the logical map.

[0020] In combination with the first aspect above, as an optional implementation method, a lidar is used to collect the actual driving path data of the autonomous driving vehicle and extract key points in the actual driving path data.

[0021] In a second aspect, the present application provides a dispatching device for an underground vehicle, the device comprising:

[0022] An extraction unit is used to extract key points of the actual map and connect the key points through logical segments to construct a virtual logical map, wherein the key points include: meeting points, loading points, unloading points, and annular areas leading to meeting points;

[0023] An establishing unit, configured to establish a logical path occupancy table based on the virtual logical map;

[0024] An execution unit is used to query whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state based on the judgment results, and perform meeting coordination scheduling.

[0025] In a third aspect, the present application further provides an electronic device comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method described in any one of the first aspects is implemented.

[0026] In a fourth aspect, the present application further provides a computer-readable storage medium storing computer program instructions, which, when executed by a computer, enables the computer to execute any one of the methods described in the first aspect.

[0027] The present application provides a method, device, equipment, and storage medium for scheduling underground vehicles, wherein the method includes the following steps: extracting key points of an actual map and connecting the key points through logical segments to construct a virtual logical map, wherein the key points include: meeting points, loading points, unloading points, and circular areas leading to meeting; establishing a logical path occupancy table based on the virtual logical map; querying whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state based on the logical path occupancy table, and performing meeting coordination scheduling. The present application enables autonomous driving vehicles to coordinate with each other in a one-way environment, thereby effectively avoiding congestion and loading, while being highly adaptable to different scenarios, low cost, and high coordination efficiency.

[0028] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0030] FIG1 is a flow chart of a method for dispatching underground vehicles provided in an embodiment of the present application;

[0031] FIG2 is a schematic diagram of a dispatching device for an underground vehicle provided in an embodiment of the present application;

[0032] FIG3 is a schematic diagram of a logical map provided in an embodiment of the present application;

[0033] FIG4 is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0034] FIG5 is a schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0036] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the blocks shown in the drawings are functional entities that do not necessarily correspond to physically or logically separate entities.

[0037] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0038] 1 , which is a flow chart of a method for dispatching an underground vehicle provided by the present invention. As shown in FIG1 , the method includes the following steps:

[0039] Step S101: extract key points of the actual map and connect the key points through logical segments to construct a virtual logical map, wherein the key points include: meeting points, loading points, unloading points and the circular area leading to the meeting.

[0040] Specifically, based on the key points of the autonomous vehicle's driving path collected by the lidar below the mine, the key points in the actual map (meeting points, loading and unloading points, and circular areas where vehicles can meet) are extracted to form a logical map.

[0041] The paths collected by the autonomous vehicle using LiDAR are all drivable paths. The data collected by the LiDAR is represented by points, point-to-point adjacency matrices, and edge-to-edge adjacency matrices.

[0042] In one embodiment, a laser radar is used to collect data on the actual driving path of an autonomous vehicle and extract key points from the actual driving path data. It is understood that the laser radar collects key points on the actual map path and connects the key points using logical segments to form a virtual logical map.

[0043] Step S102: Based on the virtual logical map, a logical path occupancy table is established.

[0044] Specifically, the logical path occupancy table includes logical segments, whether the logical segments are occupied, and the vehicles occupying them. For example, logical segments 13-19 are occupied by vehicle 1, and logical segments 30-29 are occupied by vehicle 2. It is understood that the logical path occupancy table is obtained by converting the virtual logical map and can determine whether vehicles are traveling in the same direction.

[0045] For easier understanding, the autonomous vehicle plans a logical path in sections based on the task instructions issued by the control platform. It then searches the logical path occupancy table to see if the logical path the autonomous vehicle is currently traveling on is occupied. If the path is not found, it is determined that the logical path is not occupied, and the planned logical path is issued, forcing the autonomous vehicle to travel along the planned logical path. The logical path is released after the autonomous vehicle completes its travel. If the path is found, it is determined that the logical path is occupied, and a determination is made as to whether the vehicle occupying the path is traveling in the same direction as the autonomous vehicle.

[0046] The logical occupancy table is essentially a statistical table, which can be used to determine logical path occupancy. This means that after a vehicle plans a logical path, it uses the table to determine if it's occupied. If so, the subsequent determination process is performed. If not, the path is issued, allowing the vehicle to travel along the issued path.

[0047] In one embodiment, when a task is assigned to an autonomous vehicle, it first performs logical path planning. It searches the platform's logical path occupancy table for the first segment of the planned logical path. If the first segment is not found, indicating it is unoccupied, the planned logical path is assigned. If the path is assigned successfully, the vehicle and all remaining logical paths are added to the platform's scheduled scheduling task. It should be noted that the planned path is segmented, meaning that the segment to be traveled must be determined in advance to determine whether it is occupied. If so, the vehicle's direction of travel and loading status are determined for further scheduling. If it is unoccupied, the vehicle can proceed. After the route is completed, the route is released for other vehicles to travel.

[0048] Step S103: Based on the logical path occupancy table, query whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is moving in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state, and perform meeting coordination and scheduling.

[0049] Specifically, the autonomous vehicle plans a logical path in sections based on the content of the task instructions issued by the control platform, and searches the logical path occupancy table to see whether the logical path the autonomous vehicle is currently traveling on is occupied. If the logical path is not found, it is determined that the logical path is not occupied, and the planned logical path is issued, so that the autonomous vehicle travels along the planned logical path. After the autonomous vehicle completes the travel, the logical path is released. If the logical path is found, it is determined that the logical path is occupied, and it is determined whether the vehicle occupying the path is traveling in the same direction as the autonomous vehicle.

[0050] When it is determined that the vehicle occupying the path is in the same direction as the autonomous driving vehicle, the autonomous driving vehicle is coordinated to stop and wait, and when the vehicle occupying the path releases the occupied path, the autonomous driving vehicle is dispatched to travel on the released path; when it is determined that the vehicle occupying the path is not in the same direction as the autonomous driving vehicle, it is determined whether the autonomous driving vehicle is in a loading state.

[0051] When it is determined that the autonomous driving vehicle is in a loaded state, the autonomous driving vehicle is coordinated to stop and wait, and a non-loaded vehicle is dispatched to enter the return point to release the path occupied by the non-loaded vehicle; when it is determined that the autonomous driving vehicle is in a non-loaded state, the autonomous driving vehicle is dispatched to enter the meeting point and the occupied path is released to perform meeting coordination and dispatch.

[0052] It is understood that when a task is issued to an autonomous vehicle, the autonomous vehicle first performs logical path planning. The first segment of the planned logical path is searched in the platform's logical path occupancy table. If the path is not found, it indicates that it is not occupied, and the first segment of the planned logical path can be issued. If the path is successfully issued, the vehicle information and the remaining logical paths are all added to the platform's scheduled scheduling task. It should be noted that after the vehicle information and logical paths are added to the platform's scheduled automatic scheduling system, the platform's scheduled automatic scheduling system determines whether the current path segment has been completed and whether the next path segment needs to be determined based on the information reported by the autonomous vehicle.

[0053] When the first section of the path is occupied, it is determined whether the occupier is a vehicle going in the same direction. If so, the driver stops and waits, giving the path to the occupying vehicle, allowing the occupying vehicle to go first, and then the driver goes after the occupying vehicle has gone.

[0054] When it is determined that it is not a vehicle going in the same direction, it will determine whether it is in a loaded state. If it is in a loaded state, it will stop and wait, allowing non-loaded vehicles to enter the meeting point, and give the path to the loaded vehicle. When the loaded vehicle completes its journey, the path will be released for the non-loaded vehicle to travel.

[0055] When you are sure that you are not in a loading state but encounter a loaded vehicle, you need to drive to the meeting point and turn on the light strip to give way to the loaded vehicle. After the loaded vehicle has passed, you can go ahead.

[0056] In one embodiment, after receiving the signal indicating that the vehicle has entered the meeting point, the vehicle releases the occupied path to the heavy vehicle that is parked and waiting on the path, ensuring that the heavy vehicle can successfully meet the light vehicle.

[0057] It can be understood that by successfully simplifying the multi-vehicle coordination problem into a judgment between two vehicles by checking whether the next path to be traveled is occupied, whether the occupant leads to the vehicle, and whether the vehicle itself is a heavy vehicle, and without introducing any time, speed, or distance judgment, the algorithm is independent of vehicle speed, time, and distance and can achieve adaptive autonomous driving at any speed of the vehicle and any distance between logical segments of the map. The triple judgment logic is simple and clear, the algorithm is simple to implement and has strong reliability. Since it is independent of time, the loading and unloading time does not need to be fixed, and the transportation efficiency is high.

[0058] In one embodiment, by detecting a light vehicle entering a meeting point, the light vehicle's occupied path is released to the heavy vehicle to ensure accurate meeting, thereby preventing the system from locking and improving the reliability of scheduling and coordination.

[0059] It is understandable that a virtual logical map is constructed based on the timing map, and a path occupancy table is constructed through the logical map to determine whether the path segment to be traveled by the vehicle is occupied. If it is not occupied, the path is issued for the vehicle to travel. When it is determined that the path to be traveled is occupied, it is determined whether the vehicle occupying the path is in the same direction as itself. If it is in the same direction, the vehicle stops and waits, and lets the vehicle occupying the path go first. If it is determined that the vehicle and the vehicle occupying the path are not in the same direction, it is determined whether the vehicle is in a loading state. If the vehicle is in a loading state, the vehicle stops and waits, and lets the vehicle occupying the path enter the meeting point and give up the path for the vehicle to travel. If the vehicle is not in a loading state, the vehicle enters the meeting point and gives up the road for the vehicle in the loading state to travel. It is understandable that when the vehicle receives the completion signal for entering the meeting point, the path occupied by the vehicle is given to the loading vehicle to ensure that the loading vehicle goes first.

[0060] 2 , which is a schematic diagram of a dispatching device for an underground vehicle provided by the present invention. As shown in FIG2 , the device includes:

[0061] Extraction unit 201: It is used to extract key points of the actual map and connect the key points through logical segments to construct a virtual logical map, wherein the key points include: meeting points, loading points, unloading points and circular areas leading to meeting points.

[0062] Establishing unit 202: used for establishing a logical path occupancy table based on the virtual logical map.

[0063] Execution unit 203: It is used to query whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state according to the logical path occupancy table, and perform meeting coordination scheduling.

[0064] Furthermore, in a possible implementation, an execution unit is configured to cause the autonomous driving vehicle to segmentally plan a logical path according to the content of the operation task instruction issued by the control platform;

[0065] Searching the logical path occupancy table to determine whether the logical path on which the autonomous driving vehicle is currently traveling is occupied;

[0066] When the path is not found, it is determined that the logical path is not occupied, and the planned logical path is issued so that the autonomous driving vehicle travels according to the planned logical path, and the logical path is released after the autonomous driving vehicle completes the travel.

[0067] When found, it is determined that the logical path is occupied, and it is determined whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle.

[0068] Furthermore, in a possible implementation, the execution unit is further configured to, when it is determined that the vehicle occupying the path is traveling in the same direction as the autonomous driving vehicle, coordinate the autonomous driving vehicle to stop and wait, and when the vehicle occupying the path releases the occupied path, schedule the autonomous driving vehicle to travel on the released path;

[0069] When it is determined that the vehicle occupying the path is not traveling in the same direction as the autonomous driving vehicle, it is determined whether the autonomous driving vehicle is in a loaded state.

[0070] Furthermore, in a possible implementation, the execution unit is further configured to, when determining that the autonomous driving vehicle is in a loaded state, coordinate the autonomous driving vehicle to stop and wait, and dispatch a non-loaded vehicle to a turnaround point to release the path occupied by the non-loaded vehicle;

[0071] When it is determined that the autonomous driving vehicle is in a non-loaded state, the autonomous driving vehicle is dispatched to enter a meeting point, and the occupied path is released to perform meeting coordination scheduling.

[0072] Furthermore, in a possible implementation, an optimization unit is configured to construct similar paths and non-entry meeting points according to the virtual logical map to optimize coordinated scheduling of vehicles.

[0073] Furthermore, in a possible implementation, the calculation unit is configured to calculate the actual map path corresponding to each logical segment according to the logical map.

[0074] Furthermore, in a possible implementation, the extraction unit is also used to collect actual driving path data of the autonomous driving vehicle using a lidar, and extract key points in the actual driving path data.

[0075] Referring to FIG3 , FIG3 is a schematic diagram of a logic map provided by the present invention, as shown in FIG3 :

[0076] The actual map path corresponding to each logical segment is calculated based on the logical map, such as the actual map path corresponding to 25 to 30, and then stored in the cache.

[0077] It should be noted that each logical point in the diagram may be a loading point, an unloading point, or a meeting point, which can be determined based on the real-time path.

[0078] In one embodiment, similar paths and non-entry meeting points are constructed based on the virtual logical map to optimize vehicle coordination and scheduling. It is understood that the purpose of constructing equivalent paths is to resolve issues that may arise at intersections. For example, 13-19 and 13-23 are equivalent paths. Suppose vehicle A travels from 23 to 27, and vehicle B travels from 19 to 27. Vehicle A needs to determine whether both 23-13 and 13-27 are occupied. Vehicle A does not need to determine only whether the 23-13 path it is about to travel is occupied. Vehicle B also needs to determine whether the 19-13 and 13-27 paths are occupied. If they are not occupied, it can proceed, thereby resolving the problem of meeting vehicles on a network of roads.

[0079] Non-entry to the meeting point can be understood as vehicle A going from 27 to 19, and vehicle B going from 23 to 27. At this time, the two vehicles will be stuck. In order to avoid this situation, the vehicles 23-27 need to wait between 23-13, and the vehicles 27-19 are allowed to enter the meeting point, giving the path to the vehicles on the 23-27 path, thereby solving the problem of meeting on the grid road.

[0080] The electronic device 400 according to this embodiment of the present invention is described below with reference to Figure 4. The electronic device 400 shown in Figure 4 is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0081] As shown in Figure 4, electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, the aforementioned at least one processing unit 410, the aforementioned at least one storage unit 420, and a bus 430 connecting various system components (including storage unit 420 and processing unit 410).

[0082] The storage unit stores program codes, which can be executed by the processing unit 410, so that the processing unit 410 performs the steps according to various exemplary embodiments of the present invention described in the above “Example Method” section of this specification.

[0083] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0084] The storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 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.

[0085] Bus 430 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 processing unit, or a local bus using any of a variety of bus architectures.

[0086] The electronic device 400 may also communicate with one or more external devices (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication may occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 via a bus 430. 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 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0087] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0088] According to the solution of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above-mentioned method of this specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is used to cause the terminal device to perform the steps according to various exemplary embodiments of the present invention described in the "Exemplary Methods" section of this specification.

[0089] 5 , a program product 500 for implementing the above-described method according to an embodiment of the present invention is described. The program product 500 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0090] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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.

[0091] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0092] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0093] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0094] Furthermore, the above-described figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above-described figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0095] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as combinations of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram.

Claims

1. A method for dispatching underground vehicles, characterized in that: include: Extract key points of the actual map and connect the key points through logical segments to build a virtual logical map, where the key points include: meeting points, loading points, unloading points and the circular area leading to the meeting; Based on the virtual logical map, a logical path occupancy table is established; According to the logical path occupancy table, it is queried whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state, and the meeting coordination scheduling is performed.

2. The method according to claim 1, characterized in that According to the logical path occupancy table, query the judgment result of whether the logical path to be traveled by the autonomous driving vehicle is occupied, and perform the coordination and dispatch of the vehicles, including: The autonomous driving vehicle plans a logical path in sections according to the content of the operation task instruction issued by the control platform; Searching in the logical path occupancy table whether the logical path that the autonomous driving vehicle is currently traveling on is occupied; When not found, it is determined that the logical path is not occupied, and the planned logical path is issued, so that the autonomous driving vehicle travels according to the planned logical path, and the logical path is released after the autonomous driving vehicle completes the travel. When found, it is determined that the logical path is occupied, and it is judged whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle.

3. The method according to claim 1, characterized in that The method of performing the coordination and dispatching of vehicles according to the result of judging whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle includes: When it is determined that the vehicle occupying the path is in the same direction as the autonomous driving vehicle, coordinate the autonomous driving vehicle to stop and wait, and when the vehicle occupying the path releases the occupied path, dispatch the autonomous driving vehicle to travel on the released path; When it is determined that the vehicle occupying the path is not traveling in the same direction as the autonomous driving vehicle, it is determined whether the autonomous driving vehicle is in a loaded state.

4. The method according to claim 1, characterized in that: The method of performing the coordination and dispatching of vehicles according to the result of judging whether the autonomous driving vehicle is in a non-loaded state includes: When it is determined that the autonomous driving vehicle is in a loading state, the autonomous driving vehicle is coordinated to stop and wait, and a non-loaded vehicle is dispatched to enter a return point to release the path occupied by the non-loaded vehicle; When it is determined that the autonomous driving vehicle is in a non-loaded state, the autonomous driving vehicle is dispatched to enter a meeting point, and the occupied path is released to perform meeting coordination dispatch.

5. The method according to claim 1, characterized in that Also includes: Similar paths and non-entry meeting points are constructed according to the virtual logic map to optimize the coordinated scheduling of vehicles.

6. The method according to claim 1, characterized in that Also includes: The actual map path corresponding to each logical segment is calculated based on the logical map.

7. The method according to claim 1, characterized in that The step of extracting key points of the actual map includes: LiDAR is used to collect the actual driving path data of the autonomous driving vehicle and extract the key points in the actual driving path data.

8. A dispatching device for underground vehicles, characterized in that: include: An extraction unit is used to extract key points of the actual map and connect the key points through logical segments to construct a virtual logical map, wherein the key points include: a meeting point, a loading point, a unloading point, and a circular area leading to the meeting; An establishing unit, which is used to establish a logical path occupancy table based on the virtual logical map; The execution unit is used to query whether the logical path that the autonomous driving vehicle is about to travel is occupied, whether the vehicle occupying the path is in the same direction as the autonomous driving vehicle, and whether the autonomous driving vehicle is in a non-loaded state according to the logical path occupancy table, and perform meeting coordination scheduling.

9. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer program instructions are stored therein, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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