CN113759835A

CN113759835A - Vehicle scheduling method, device, equipment and storage medium

Info

Publication number: CN113759835A
Application number: CN202010535486.4A
Authority: CN
Inventors: 李保萍
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2021-12-07
Anticipated expiration: 2040-06-12
Also published as: CN113759835B

Abstract

The embodiment of the invention discloses a vehicle scheduling method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring operation information of each operating vehicle; determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information; determining the current operation state of the field according to the field operation information of the field to which the candidate vehicle belongs; and determining a target vehicle to be cleaned from the candidate vehicles according to the current operation state, and sending a scheduling instruction for running to a corresponding cleaning point for cleaning to the target vehicle. According to the technical scheme of the embodiment of the invention, the target vehicle to be cleaned is determined by combining the operation information of the operating vehicle and the operation information of the site to which the operating vehicle belongs, and the scheduling strategy of the vehicle is optimized, so that the technical effect of site operation efficiency is improved.

Description

Vehicle scheduling method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of computers, in particular to a vehicle scheduling method, device, equipment and storage medium.

Background

At present, the transportation of articles in a warehouse is mostly realized through an AGV. When the AGV trolley runs for a period of time, certain abrasion of the trolley exists, and the parts inside the trolley body have the condition of dust accumulation, so that the trolley needs to be cleaned by workers, such as maintenance or cleaning of the trolley.

In the process of implementing the invention, the inventor finds that the following problems exist in the prior art:

at present, whether the trolley is cleaned or not is mainly judged by manpower. When determining whether to clean the trolley based on manual work, the operating condition of the trolley is not known by workers, so that the trolley is not cleaned in time, the fault rate of the trolley is increased, and the working efficiency of the AGV is greatly reduced.

Disclosure of Invention

The invention provides a vehicle scheduling method, a vehicle scheduling device, vehicle scheduling equipment and a storage medium, which are used for determining a target vehicle to be cleaned from all running vehicles based on running information and field operation states of the vehicles, and improve the technical effects of convenience and accuracy of determining the vehicle to be cleaned.

In a first aspect, an embodiment of the present invention provides a vehicle scheduling method, where the method includes:

acquiring operation information of each operating vehicle;

determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information;

determining the current operation state of the field according to the field operation information of the field to which the candidate vehicle belongs;

and determining a target vehicle to be cleaned from the candidate vehicles according to the current operation state, and sending a scheduling instruction for running to a corresponding cleaning point for cleaning to the target vehicle.

In a second aspect, an embodiment of the present invention further provides a vehicle dispatching device, where the device includes:

the running information determining module is used for acquiring the running information of each running vehicle;

the candidate vehicle determining module is used for determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles on the basis of the running information;

the operation state determining module is used for determining the current operation state of the field according to field operation information of the field to which the candidate vehicle belongs;

and the target vehicle determining module is used for determining a target vehicle to be cleaned from the candidate vehicles according to the current operation state and sending a scheduling instruction for running to a corresponding cleaning point for cleaning to the target vehicle.

In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a vehicle scheduling method according to any one of the embodiments of the present invention.

In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a vehicle scheduling method according to any one of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the target vehicle to be cleaned is determined by combining the operation information of the operating vehicle and the site operation information of the site to which the operating vehicle belongs, so that the target vehicle to be cleaned is automatically, conveniently and accurately determined, the scheduling strategy of the vehicle is optimized, and the technical effect of site operation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.

Fig. 1 is a schematic flow chart of a vehicle scheduling method according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a vehicle scheduling method according to a second embodiment of the present invention;

fig. 3 is a schematic flow chart of a vehicle scheduling method according to a third embodiment of the present invention;

FIG. 4 is a schematic diagram of a fourth preferred embodiment of the present invention;

fig. 5 is a schematic structural diagram of a vehicle dispatching device according to a fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a schematic flow chart of a vehicle scheduling method according to an embodiment of the present invention. The present embodiment is applicable to a situation where a running vehicle to be cleaned is determined from among the running vehicles, and the method may be performed by a vehicle scheduling apparatus, which may be implemented in the form of software and/or hardware, and optionally may be implemented on the basis of a server.

As shown in fig. 1, the method of this embodiment includes:

and S110, acquiring the running information of each running vehicle.

It should be noted that the running vehicle indicated in the embodiment of the present invention may be an AGV cart applied to picking up articles, and may also be an AGV cart applied to scenes such as sorting, bin conveying, shelf conveying, and the like. However, in any of the situations, when the running vehicle runs for a certain time, the running vehicle may be worn to some extent, and the running vehicle needs to be cleaned. A plurality of running vehicles may be included in each lot, and in order to determine a running vehicle to be cleaned from among all the running vehicles, the running information of the running vehicles may be combined to determine. The place can be a warehouse for placing articles to be sorted or a production workshop for producing products, and an AGV trolley is required to carry a bin and the like in the workshop.

For clarity of describing the technical solution of the present embodiment, the description may be given by taking an example of determining a target vehicle to be cleaned in a field.

Wherein the running vehicle is an AGV trolley for carrying articles to be picked, bins or racks. The operation information may include the number of times of execution of tasks for the operating vehicle to carry the item to be picked, the total mileage traveled, the number of times of failure of the operating vehicle when carrying the item to be picked, and the like.

In order to determine the target vehicle to be cleaned from all the running vehicles, the running information of all the running vehicles within a preset time may be acquired, and optionally, the running information of each running vehicle within 20 days may be acquired to determine the target vehicle based on the running information within the preset time.

Specifically, after determining the number of task executions, the total mileage traveled and the number of failures of each running vehicle within a preset time based on the vehicle running management system, the candidate vehicle to be cleaned is determined according to the running information of the running vehicle, and the candidate vehicle is obtained at this time because the embodiment not only needs to consider the running information of the vehicle, but also needs to comprehensively determine the target vehicle by combining other factors.

And S120, determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information.

The cleaning demand degree of the corresponding running vehicle can be determined according to the running information of each running vehicle, so that the running vehicles meeting certain conditions, namely the running vehicles with higher cleaning demand degrees, are obtained from all the running vehicles based on the cleaning demand degree, and the running vehicles to be cleaned determined at the moment are taken as candidate vehicles. The clean spot is a place where a running vehicle is repaired or washed. The number of the running vehicles corresponding to each place is multiple, the number of the cleaning points is also multiple, in order to avoid the problem that cleaning efficiency is low when two or more running vehicles reach the same cleaning point for cleaning, after candidate vehicles are determined, the cleaning points corresponding to each candidate vehicle can be determined, so that the candidate vehicles reach the corresponding cleaning points for cleaning, and the technical effect of improving the cleaning efficiency is achieved. And taking the cleaning point corresponding to the candidate vehicle as a target cleaning point.

In the embodiment, determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles according to the running information includes: respectively acquiring weighted values corresponding to the task execution times, the driving mileage and the failure times; determining, for the running information corresponding to each running vehicle, a current evaluation value of the running vehicle corresponding to the running information based on the weight value and the running information; based on the current evaluation values of the respective running vehicles, a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle are determined from the running vehicles.

The current evaluation value is used for representing the cleaning requirement degree of each running vehicle, and optionally, the higher the current evaluation value is, the higher the cleaning requirement degree of the running vehicle is. The current evaluation value corresponding to each running vehicle may be calculated from the running information and the corresponding weight value, for example, the weight values corresponding to the number of times of task execution, the mileage and the number of failures are 20, 30 and 50, respectively, and if the number of times of task execution corresponding to the running vehicle 1 is a and the mileage is B, the number of failures is C, the current evaluation value M corresponding to the running vehicle 1 is 20A +30B + 50C. The present evaluation values of the respective running vehicles may be determined separately in the above manner to determine candidate vehicles to be cleaned from the running vehicles based on the present evaluation value of each running vehicle.

In the embodiment, the current evaluation value of each running vehicle is determined based on the running information, and the candidate vehicle is determined based on the current evaluation value, so that the running vehicle with higher cleaning requirement degree can be obtained from all the running vehicles by combining the specific running information of the vehicles, and the technical effects of accuracy, reasonableness and convenience in determining the candidate vehicle are improved.

It should be noted that the cleaning cycles of all the running vehicles may be set in the server in advance, for example, 30 days, and the time information of the next cleaning of the running vehicle may be determined according to the cleaning completion time of the running vehicle and the cleaning cycle. In determining the candidate vehicle, the candidate vehicle may be determined synthetically in combination with the current evaluation value of the running vehicle and the time information of the next cleaning of the running vehicle.

Optionally, determining a preset number of running vehicles from high to low as running vehicles to be selected according to the current evaluation value of each running vehicle; acquiring target time information corresponding to each vehicle to be selected to run; the target time information is determined based on the time when the running vehicle completes cleaning and a preset cleaning period and is used for representing the time information when the running vehicle performs the next cleaning; determining at least one candidate vehicle to be cleaned from the vehicles to be selected according to the current time information and the target time information corresponding to each vehicle to be selected; and determining a cleaning point corresponding to each candidate vehicle according to the current position information of the candidate vehicles.

The running vehicles determined for the first time based on the current evaluation value of the running vehicles are used as running vehicles to be selected, namely, a certain number of running vehicles can be determined as running vehicles to be selected according to the current evaluation value of the running vehicles. The preset number is set according to actual conditions, and optionally, the preset number may be set to 100. The cleaning period is preset, optionally, the cleaning period is one month, after the running vehicle is cleaned, based on the preset cleaning period, the cleaning time of the next cleaning of the running vehicle can be determined, and the cleaning time determined at this time is used as the target time information corresponding to the running vehicle. For example, the cleaning cycle is 30 days, the time when the last cleaning of the running vehicle 1 is completed is No. 5/8, and based on the time when the last cleaning is completed and the cleaning cycle, it can be determined that the cleaning time of the next cleaning corresponding to the running vehicle 1 is No. 6/7, that is, the target time information is No. 6/7. The server can detect each running vehicle at regular time, further determine whether the running vehicle needs cleaning, and can use the time when the server detects whether each running vehicle needs cleaning as the current time information. Candidate vehicles may be determined from the vehicles to be selected for operation based on the target time information and the current time information of the vehicles to be selected for operation. According to the current position information of the candidate vehicles and the cleaning point position information of the cleaning points, the target cleaning point corresponding to each candidate vehicle can be determined.

In this embodiment, the vehicles to be selected and operated with a certain cleaning demand can be determined according to the current evaluation value of the vehicle, and the candidate vehicles can be determined from the vehicles to be selected and operated according to the target time point of the vehicles to be selected and operated, so that the vehicles to be selected and operated with higher cleaning demand and longer cleaning time next time can be preferentially selected, thereby avoiding operation failure in the operation process and realizing the technical effect of improving the operation efficiency.

Optionally, determining at least one candidate vehicle to be cleaned from the vehicles to be selected according to the current time information and the target time information corresponding to each vehicle to be selected, including: aiming at each running vehicle to be selected, determining interval duration according to current time information and target time information corresponding to the running vehicle to be selected; and when the interval duration is greater than a preset interval duration threshold value, taking the vehicle to be selected as a candidate vehicle.

The preset interval duration threshold is preset, and optionally, the preset interval duration threshold may be set to three days.

Specifically, for each vehicle to be selected, the interval duration from the next cleaning time of the vehicle to be selected to the current time may be determined according to the target time information and the current time information of each vehicle to be selected. When the interval duration is longer than a preset interval duration threshold, the interval between the vehicle to be selected and the next cleaning is longer, and in order to avoid the failure of the vehicle to be operated in the time interval, the vehicle to be selected and operated with the interval duration longer than the preset interval duration can be used as a candidate vehicle; when the interval duration is smaller than the preset interval duration threshold, it indicates that the time interval between the vehicle to be selected and the next cleaning is short, and the vehicle to be selected can wait for the next target time point to perform the cleaning treatment. The candidate vehicles are determined in the mode, so that the candidate vehicles can be cleaned preferentially when the candidate vehicles are required to be cleaned and are longer than the next cleaning time, and the problem that the field operation efficiency is reduced due to the fact that the vehicles break down in the operation process is solved.

In order to avoid the situation that the picking efficiency of the articles in the field is reduced due to the fact that the running vehicles move to the cleaning points from the current positions to a long distance, and the problem that the cleaning efficiency is low due to the fact that a plurality of running vehicles run to one cleaning point simultaneously to clean and another running vehicle needs to wait for a certain time to clean, the target cleaning point corresponding to each candidate vehicle can be determined according to the current position information of the candidate vehicles and the position information of the cleaning points.

In the present embodiment, determining a cleaning point corresponding to each candidate vehicle based on the current position information of the candidate vehicle includes: acquiring current position information of the candidate vehicles and cleaning point position information of each cleaning point to be selected in the field aiming at each candidate vehicle; the cleaning points to be selected are cleaning points with identification information in an idle state; and for each candidate vehicle, determining cleaning points to be selected corresponding to the candidate vehicle from all the cleaning points to be selected according to the current position information of the candidate vehicle and the cleaning point position information of each cleaning point to be selected, and updating the identification information of the target cleaning point from the idle state to the busy state.

Specifically, for each candidate vehicle, the current position information of the candidate vehicle and the cleaning point position information of the cleaning point in the field whose identification information is the idle state may be acquired. According to the current position information and the cleaning point position information, the moving distance of the candidate vehicle from the current position to each cleaning point can be calculated, and the cleaning point with the minimum moving distance is used as the target cleaning point corresponding to the candidate vehicle. After the target cleaning point is determined, the identification information of the cleaning point may be updated from the idle state to the busy state in order to avoid other running vehicles from cleaning to the cleaning point.

And S130, determining the current operation state of the field according to the field operation information of the field to which the candidate vehicle belongs.

In the practical application process, the situations that the loads of the rest trolleys in the site are high and the work in the site cannot run normally due to the fact that all candidate vehicles are cleaned to the corresponding cleaning points are avoided. In the case of considering the vehicle operation information, the current operation information of the field is also considered in combination, so that the target vehicle is further determined from the candidate vehicles based on the operation information of the field.

The field operation information comprises work to be completed and capacity within preset time, and correspondingly, the current state of the field is determined according to the relation between the work to be completed and the capacity within the preset time.

In the embodiment, the number of items to be picked in the warehouse, which is the number of items to be picked in the warehouse, and the capacity within the preset time may be determined by the number of picking stations, the efficiency of each picking station, and the preset time. Optionally, the capacity within the preset time is determined by a product of the number of picking stations, the efficiency of each picking station, the total number of items to be picked and the preset time. The current working state of the warehouse can be determined according to the quantity of the items to be picked and the capacity within the preset time. That is, the current job state is determined based on the job information of the site, and may be a primary busy state, a secondary busy state, a tertiary busy state, an idle state, and the like. For example, if the backlog of the order in the field is far greater than the capacity within the preset time, the current operation state is a first-level busy state; and if the order backlog quantity is smaller than the capacity within the preset time, the current operation state is an idle state.

And S140, determining a target vehicle to be cleaned from the candidate vehicles according to the current operation state, and sending a scheduling instruction for running to a corresponding cleaning point for cleaning to the target vehicle.

Wherein the vehicle candidate vehicles cleaned up to the respective cleaning points are selected from the candidate vehicles as the target vehicles. And taking the control instruction which is received by the target vehicle and moves from the current position to the corresponding cleaning point position as a dispatching instruction.

Specifically, after determining the current work state of the field to which the candidate vehicle belongs, a certain number of target vehicles corresponding to the current work state may be determined from the candidate vehicles to be cleaned, and corresponding scheduling instructions may be transmitted to the target vehicles so that the target vehicles move from the current position to the corresponding cleaning points for cleaning based on the scheduling instructions.

According to the technical scheme of the embodiment of the invention, when the target vehicle to be cleaned is comprehensively considered by combining the operation information of the operating vehicle and the operation state of the site to which the operating vehicle belongs, the operating vehicle with higher cleaning demand can be accurately and conveniently determined, the number of the determined target vehicles is matched with the operation state of the site to which the target vehicles belong, and the technical effects of accuracy and convenience in determining the target vehicles are improved.

Example two

Fig. 2 is a schematic flow chart of a vehicle scheduling method according to a second embodiment of the present invention. On the basis of the foregoing embodiment, optimization may be performed on "determining the current operation state of the field according to the field operation information of the field to which the candidate vehicle belongs" and "determining the target vehicle to be cleaned from the candidate vehicles according to the current operation state", respectively, and specific optimization thereof may be seen in fig. 2. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.

As shown in fig. 2, the method includes:

s210, acquiring the running information of each running vehicle;

and S220, determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information.

And S230, determining the current state of the site according to the relation between the work to be finished and the capacity within the preset time.

The capacity refers to the amount of orders that can be completed by running vehicles in a field within a certain time. Capacity may be determined by information such as the number of picking stations, the efficiency of each picking station, etc. The work to be done may be the number of items to pick. According to the relation between the productivity and the work to be completed, the current operation state can be divided into at least three states, namely a first busy state, a second busy state and an idle state.

For example, the current operational state may be determined based on a relationship between capacity and work to be completed, i.e., based on a relationship between capacity and the number of items to be picked. Optionally, the current job status is divided into four status types. Optionally, if the number of the items to be picked is greater than the capacity, the operation state of the site is a first busy state; if the production capacity is larger than one hundred twenty percent of the number of the items to be picked, the operation state of the site is a second busy state; if the capacity is more than one hundred twenty percent of the quantity of the articles to be picked and less than one hundred fifty percent of the quantity of the articles to be picked, the operation state of the site is a third busy state; if the capacity is more than two hundred percent of the quantity of the goods to be picked, the operation state of the field is an idle state. That is to say, the first busy state is the busiest state, the second busy state is the next busy state, the busy level of the third busy state is lower than the busy level corresponding to the second busy state, and the idle state is the lowest busy level.

According to the current operation state of the field, a certain number of corresponding target vehicles can be determined, the matching degree between the number of the target vehicles and the current operation state is improved, and the technical effect of vehicle dispatching efficiency is further improved.

S240, acquiring the total number of vehicles of the candidate vehicles, determining the proportion of the number of the vehicles corresponding to the current operation state, and determining the target vehicle to be cleaned corresponding to the proportion of the number of the vehicles from the candidate vehicles based on the proportion of the number of the vehicles and the total number of the vehicles.

It should be noted that different operation states correspond to different numbers of target vehicles in proportion. The vehicle number ratio may be understood as a ratio of the total number of candidate vehicles, for example, the total number of vehicles is 100, the vehicle number ratio is 10%, and the number of target vehicles is 100 × 10% — 10. The target vehicles are vehicles selected from candidate vehicles according to the field operation state, and the number of the target vehicles is determined by the vehicle number proportion and the total number of the vehicles.

For example, if the total number of the candidate vehicles is 100, the proportion of the number of vehicles corresponding to the first busy state is 2%, the proportion of the number of vehicles corresponding to the second busy state is 10%, the proportion of the number of vehicles corresponding to the third busy state is 20%, and the proportion of the number of vehicles corresponding to the idle state is 50%, after the current operation state of the field is determined, the vehicles of the target vehicle corresponding to the proportion of the number of vehicles can be determined according to the proportion of the number of vehicles and the total number of vehicles. Of course, in order to achieve the effect of cleaning the vehicle with a high degree of cleaning requirement, when determining the target vehicle, the target vehicle corresponding to the vehicle number ratio may be determined according to the current evaluation value of the vehicle to be selected.

Specifically, after the operation state of the field is determined, the total number of vehicles of the candidate vehicles and the proportion of the number of vehicles corresponding to the current operation state can be determined; according to the total number of the vehicles and the proportion of the number of the vehicles, the target vehicles to be cleaned corresponding to the comparison of the number of the vehicles can be determined from the candidate vehicles.

And S250, sending a scheduling instruction for running to a corresponding cleaning point to clean to the target vehicle.

According to the technical scheme of the embodiment of the invention, the number proportion of the vehicles corresponding to the operation state of the site where the operation vehicles belong is determined according to the operation state of the site, and then when the number of the target vehicles to be cleaned is determined based on the number proportion of the vehicles, the determined number of the target vehicles is matched with the operation state of the site, not only are the operation vehicles with the highest cleaning demand degree, but also the operation state of the site, and the technical effects of improving the scheduling efficiency and accuracy of the vehicles are achieved.

EXAMPLE III

Fig. 3 is a schematic flow chart of a vehicle scheduling method according to a third embodiment of the present invention. After determining the target vehicle from the vehicles to be selected for operation, a calling instruction for moving from the current position to the corresponding cleaning point can be sent to the target vehicle, and before sending the calling instruction to the target vehicle, a motion path corresponding to the target vehicle needs to be determined. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.

As shown in fig. 3, the method includes:

and S310, acquiring the running information of each running vehicle.

And S320, determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information.

And S330, determining the current operation state of the field according to the field operation information of the field to which the candidate vehicle belongs.

And S340, determining a target vehicle to be cleaned from the candidate vehicles according to the current working state.

S350, aiming at each target vehicle, obtaining current position information of the target vehicle and cleaning point position information of a corresponding cleaning point, determining a movement path of the target vehicle from the current position to the target cleaning point by adopting a preset path planning algorithm, and sending a scheduling instruction comprising the movement path to the target vehicle so as to enable the target vehicle to operate according to the movement path.

Specifically, for each target vehicle, a path planning algorithm may be adopted to calculate a shortest running path along which the target vehicle moves from the current position to the corresponding cleaning point, and a scheduling instruction including the shortest running path is sent to the target vehicle, so that the target vehicle moves from the current position to the corresponding target cleaning point according to the running path, thereby improving the technical effect of vehicle cleaning efficiency.

After determining the movement path of the target vehicle, a dispatch instruction including the movement path may be sent to the target vehicle. Optionally: when the trigger target operation is detected, generating a scheduling instruction corresponding to each target vehicle, and sending the scheduling instruction to the corresponding target vehicle so as to enable the target vehicle to start to move based on the scheduling instruction; the calling instruction comprises a target cleaning point and a motion path.

Specifically, when a control triggering the sending of the scheduling instruction to the target vehicle is detected, the scheduling instruction may be sent to the target vehicle, so that the target vehicle moves from the current position to the corresponding cleaning point based on the shortest motion path in the scheduling instruction.

And S360, sending a scheduling instruction for running to a corresponding cleaning point to clean to the target vehicle.

On the basis of the technical solutions, if the target vehicle is cleaned at the corresponding cleaning point, a feedback information number of the cleaning completion can be sent to the server, so that the server determines target time information corresponding to the target vehicle, that is, time information of the next cleaning according to the feedback time information of the received feedback signal, so as to re-determine the candidate vehicle based on the determined target time information.

Optionally, when a feedback signal of cleaning completion fed back by each target vehicle is received, obtaining feedback time information of the received feedback signal; target time information of the target vehicle is determined based on the feedback time information to determine a candidate vehicle based on the target time information.

It should be noted that, in order to ensure the normal operation of the site, the current operation state of the site is detected in real time or at intervals during the cleaning process from the target vehicle to the cleaning point, so as to send a callback control signal to the target vehicle based on the current operation state. Optionally, the current operation state of the field is detected, and when the current operation state is updated to the early warning state, a callback control signal is sent to the target vehicle, so that the target vehicle stops running to a target cleaning point or returns from the target cleaning point based on the callback control signal.

Specifically, when it is detected that the current operation state of the site is converted into the early warning state, that is, the level of the current operation state of the site is increased more than the previous time, a callback signal may be sent to all or part of the target vehicles, and when the target vehicles receive the callback signal, the target vehicles may stop running to the target cleaning point, or return to the site from the target cleaning point, so as to perform a task in the site. For example, if the work status of the yard is an idle status, and a certain number (100) of target vehicles have arrived at the clean spot and are clean, and it is detected that the current work idle status of the yard is updated to a third busy status, a callback control signal may be sent to a certain number (20) of target vehicles, so that the target vehicles stop running to the target clean spot when receiving the callback signal, or return to the yard from the target clean spot to execute tasks in the yard, thereby achieving the technical effects of flexibly scheduling vehicles and further optimizing a vehicle scheduling policy.

According to the technical scheme of the embodiment of the invention, after the target vehicle and the cleaning points corresponding to the target vehicle are determined, the optimal path for the target vehicle to move from the current position to the target cleaning points can be planned, and the scheduling instruction comprising the optimal path is sent to the target vehicle, so that the target vehicle moves to the target cleaning points according to the optimal path to be cleaned, and the cleaning efficiency of the vehicle is improved; in the cleaning process, the operation state of the field can be monitored in real time, and when the operation state of the field is changed into the early warning state, the callback control signal can be sent to the target vehicle, so that the target vehicle executes a corresponding task based on the callback control signal, and the technical effects of flexibility and convenience in vehicle scheduling are achieved.

Example four

Fig. 4 is a schematic diagram of a preferred embodiment according to a fourth embodiment of the present invention. As shown in FIG. 4, the vehicle dispatching method is implemented by two parts of the server communicating with the AGV, such as the scheduling and control console in the server, and the AGV. The scheduling is mainly used for inquiring the operation information of the running vehicle and the operation information of the field, and determining a cleaning task based on the operation information and the operation information, wherein the cleaning task comprises at least one target vehicle. The console is used for acquiring the cleaning tasks generated by scheduling and sending scheduling instructions to all target vehicles in the cleaning tasks. The AGV is a running vehicle and is used for receiving a scheduling instruction sent by the console, cleaning the corresponding cleaning point based on the scheduling instruction, and sending a feedback signal of cleaning completion to the console after the cleaning task is completed.

The scheduling is to determine that the target vehicle needs to be cleaned. Specifically, the condition of the trolley is intelligently calculated, the number of times of executing tasks, the mileage of driving, the number of times of serious faults and the like of each running vehicle in preset time are regularly inquired every day, optionally, running information of the running vehicles in 20 days is inquired, and the current evaluation value of each running vehicle in 20 days can be calculated based on a first weight value A corresponding to the number of times of executing the tasks, a weight value B corresponding to the mileage of driving and a weight value C corresponding to the number of times of serious faults. And acquiring a preset number of vehicles from high to low according to the current evaluation value to serve as the vehicles to be selected to operate, and optionally acquiring 100 vehicles to be selected to operate. And checking the target time point of the next cleaning of 100 vehicles to be selected, and according to the current time point and the interval duration of the target time point, taking the vehicle to be selected with the interval duration higher than the preset interval duration as a candidate vehicle, for example, taking the vehicle to be selected with the interval duration higher than 3 days as the candidate vehicle. And acquiring idle cleaning points in the field, and determining the cleaning points corresponding to each candidate vehicle according to the position information of the candidate vehicles and the position information of the idle cleaning points.

Generating a cart (running vehicle) cleaning task includes: while determining the candidate vehicle, a current job status of the lot may be determined, such as based on an order backlog in the lot, a starting number of workstations, a picking efficiency of the workstations. Where the order backlog may be the number of items to be picked. When the capacity is smaller than the order backlog, the operation state of the site is in a busy state, and a target vehicle does not need to be determined, namely a cleaning task is not generated; if the order quantity is greater than the order quantity and less than one hundred twenty percent of the order quantity, the number of candidate vehicles can be acquired, and a certain number of target vehicles can be determined based on the proportion of the number to the vehicles corresponding to the current state. The method for determining the number of the vehicles in the embodiment has the advantage of avoiding the problem of poor productivity caused by insufficient number of running vehicles when the site is suddenly busy. After the target vehicle is determined, a cleaning point in the site whose identification information is in an idle state may be determined, and a target cleaning point corresponding to the target vehicle may be determined. And generating a cleaning task according to the target vehicle and the corresponding target cleaning point. The cleaning task can also comprise: and determining a running path moving from the current position to the corresponding cleaning point according to the current position information of the target vehicle and the cleaning point position information of the corresponding cleaning point, and sending a dispatching signal comprising the running path to the corresponding target vehicle. That is, after the target vehicle and the cleaning point corresponding to the target vehicle are determined, a cleaning task including the target vehicle and the corresponding cleaning point may be issued to the console.

After receiving the cleaning task, the console can send a scheduling instruction to the target vehicle in the cleaning task.

After receiving the dispatching instruction, the target vehicle, i.e., the AGV cart, may move from the current position to the target cleaning point, i.e., the cleaning point closest to the current position, according to the movement path. After the target vehicle moves to the target cleaning point, the cleaning can be automatically started, and after the cleaning time set by the server is reached, a feedback signal of cleaning completion is sent to the server, namely the console, namely the cleaning completion is reported to the console, so that the console updates the target time information corresponding to the target vehicle according to the feedback time information of the received feedback signal. Further, after the console receives the feedback signal, a task of leaving the cleaning point can be generated and a control command of leaving the cleaning point can be sent to the target vehicle, so that the target vehicle leaves the cleaning point according to the control command, and the task is finished.

It should be noted that, during the cleaning process of the target vehicle, the current work state of the site may be detected in real time or at intervals, and when the current work state changes to a busy state, a call-back signal is sent to the target vehicle, so as to return to the site to execute the corresponding to-be-picked task based on the call-back signal.

It should be further noted that, if the target vehicle reaches the corresponding cleaning point, and the cleaning device does not successfully clean the trolley, it may be obtained whether there are other cleaning points, if so, a scheduling instruction for sending cleaning to other cleaning points to the target vehicle is sent, and if not, the cleaning device may wait for the cleaning of the cleaning points whose identification information is in the idle state to be completed after the cleaning of other target vehicles is completed.

EXAMPLE III

Fig. 5 is a schematic structural diagram of a vehicle dispatching device according to a fifth embodiment of the present invention, where the device includes: an operational information determination module 510, a candidate vehicle determination module 520, a job status determination module 530, and a target vehicle determination module 540.

The operation information determining module 510 is configured to obtain operation information of each operating vehicle; a candidate vehicle determination module 520, configured to determine a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information; the operation state determination module 530 is configured to determine a current operation state of the field according to field operation information of the field to which the candidate vehicle belongs; and the target vehicle determining module 540 is configured to determine a target vehicle to be cleaned from the candidate vehicles according to the current operation state, and send a scheduling instruction for running to a corresponding cleaning point to clean the target vehicle.

On the basis of the technical scheme, the running information comprises the task execution times, the mileage and the failure times of the running vehicle; the candidate vehicle determination module includes:

a weight value obtaining unit for respectively obtaining weight values corresponding to the number of task executions, the number of miles driven, and the number of failures; an evaluation value determination unit configured to determine, for running information corresponding to each running vehicle, a current evaluation value of the running vehicle corresponding to the running information based on the weight value and the running information; a candidate vehicle determination unit configured to determine a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the current evaluation values of the respective vehicles.

On the basis of the above technical solution, the candidate vehicle determination unit includes:

the to-be-selected running vehicle determining subunit is used for determining a preset number of running vehicles from high to low as to-be-selected running vehicles according to the current evaluation value of each running vehicle; the time information determining subunit is used for acquiring target time information corresponding to each vehicle to be selected to run; the target time information is determined based on the time when the previous cleaning of the running vehicle is completed and the preset cleaning cycle duration, and is used for representing the time information of the next cleaning of the running vehicle; (ii) a The candidate vehicle determining subunit is used for determining at least one candidate vehicle to be cleaned from the vehicles to be selected according to the current time information and the target time information corresponding to each vehicle to be selected; and the cleaning point determining subunit is used for determining the cleaning point corresponding to each candidate vehicle according to the current position information of the candidate vehicles.

On the basis of the technical scheme, the candidate vehicle determining subunit is further used for determining the interval duration for each vehicle to be selected according to the current time information and the target time information corresponding to the vehicle to be selected; and when the interval duration is greater than a preset interval duration threshold value, taking the running vehicle to be selected as a candidate vehicle.

On the basis of the technical scheme, the cleaning point determining subunit is further configured to obtain, for each candidate vehicle, current position information of the candidate vehicle and cleaning point position information of each cleaning point to be selected in the field; the cleaning points to be selected are cleaning points with identification information in an idle state; and for each candidate vehicle, determining cleaning points to be selected corresponding to the candidate vehicle from all cleaning points to be selected according to the current position information of the candidate vehicle and the cleaning point position information of each cleaning point to be selected, and updating the identification information of the target cleaning point from an idle state to a busy state.

On the basis of the technical scheme, the field operation information comprises the backlog quantity of the items to be picked and the capacity within the preset time; the capacity within the preset time is determined by the number of picking stations, the efficiency of each picking station and the preset time, and the current operation state determination module is further used for: and determining the current operation state of the field based on the relation between the capacity and the backlog.

On the basis of the above technical solutions, the target vehicle determination module of the apparatus includes: a total vehicle number determination unit for acquiring a total vehicle number of the candidate vehicles; a quantity ratio determination unit for determining a vehicle quantity ratio corresponding to the current operation state; a target vehicle determination unit configured to determine a target vehicle to be cleaned corresponding to the vehicle number proportion from the candidate vehicles based on the vehicle number proportion and the total number of vehicles.

On the basis of the above technical solutions, the apparatus further includes:

the device comprises a position information acquisition module, a position information acquisition module and a position information acquisition module, wherein the position information acquisition module is used for acquiring the current position information of each target vehicle and the cleaning point position information of a corresponding cleaning point; the path planning module is used for determining a motion path of the target vehicle from the current position to a target cleaning point by adopting a preset path planning algorithm, binding the motion path with the target vehicle, and sending a control signal comprising the motion path to the target vehicle so as to enable the target vehicle to operate according to the motion path.

On the basis of the above technical solutions, the path planning module of the apparatus, after determining the movement path corresponding to the target vehicle, is further configured to: when a trigger target operation is detected, generating a control signal corresponding to each target vehicle and sending the control signal to the corresponding target vehicle so that the target vehicle starts to move based on the control signal; the control signal comprises a target cleaning point and a motion path.

On the basis of the above technical solutions, the apparatus further includes:

the feedback signal receiving module is used for acquiring feedback time information of the received feedback signals when receiving the feedback signals of task completion fed back by each target vehicle; and the task updating module is used for determining target time information of the target vehicle based on the feedback time information so as to determine candidate vehicles based on the target time information.

On the basis of the above technical solutions, the apparatus further includes: and the detection module is used for detecting the current operation state of the field, and when the current operation state is updated to the early warning state, sending a callback control signal to the target vehicle so that the target vehicle stops running to a target cleaning point or returns from the target cleaning point based on the callback control signal.

The vehicle dispatching device provided by the embodiment of the invention can execute the vehicle dispatching method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

It should be noted that, the units and modules included in the apparatus are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.

EXAMPLE six

Fig. 6 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary device 60 suitable for use in implementing embodiments of the present invention. The device 60 shown in fig. 6 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention.

As shown in fig. 6, the device 60 is in the form of a general purpose computing server. The components of the device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that couples various system components including the system memory 602 and the processing unit 601.

Bus 603 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Device 60 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 60 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 602 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)604 and/or cache memory 605. The device 60 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 603 by one or more data media interfaces. Memory 602 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 608 having a set (at least one) of program modules 607 may be stored, for example, in memory 602, such program modules 607 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 607 generally perform the functions and/or methods of the described embodiments of the invention.

Device 60 may also communicate with one or more external devices 609 (e.g., keyboard, pointing server, display 610, etc.), with one or more servers that enable a user to interact with device 60, and/or with any servers (e.g., network card, modem, etc.) that enable device 60 to communicate with one or more other computing servers. Such communication may occur via an input/output (I/O) interface 611. Also, device 60 may 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 network adapter 612. As shown, a network adapter 612 communicates with the other modules of device 60 via bus 603. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with device 60, including but not limited to: microcode, server drives, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 601 executes various functional applications and data processing by executing programs stored in the system memory 902, for example, implementing a vehicle scheduling method provided by an embodiment of the present invention.

EXAMPLE six

A storage medium containing computer-executable instructions for performing a vehicle dispatch method when executed by a computer processor is also provided in a sixth embodiment of the present invention.

Acquiring operation information of each operating vehicle;

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer 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.

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle scheduling method, comprising:

acquiring operation information of each operating vehicle;

2. The method of claim 1, wherein the operation information includes a number of tasks performed, miles traveled, and failures of the operating vehicle; the determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the running information includes:

respectively acquiring weighted values corresponding to the task execution times, the driving mileage and the failure times;

determining, for running information corresponding to each running vehicle, a current evaluation value of the running vehicle corresponding to the running information based on the weight value and the running information;

a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle are determined from the running vehicles based on the current evaluation values of the respective running vehicles.

3. The method according to claim 2, wherein the determining a candidate vehicle to be cleaned and a cleaning point corresponding to the candidate vehicle from the running vehicles based on the current evaluation values of the respective running vehicles includes:

determining a preset number of running vehicles from high to low as running vehicles to be selected according to the current evaluation value of each running vehicle;

acquiring target time information corresponding to each vehicle to be selected; the target time information is determined based on the time when the previous cleaning of the running vehicle is completed and the preset cleaning cycle duration, and is used for representing the time information of the next cleaning of the running vehicle;

determining at least one candidate vehicle to be cleaned from the vehicles to be selected according to the current time information and the target time information corresponding to each vehicle to be selected;

and determining a cleaning point corresponding to each candidate vehicle according to the current position information of the candidate vehicles.

4. The method of claim 3, wherein the determining at least one candidate vehicle to be cleaned from the vehicles to be selected for operation based on the current time information and target time information corresponding to each vehicle to be selected for operation comprises:

aiming at each running vehicle to be selected, determining interval duration according to current time information and target time information corresponding to the running vehicle to be selected;

and when the interval duration is greater than a preset interval duration threshold value, taking the running vehicle to be selected as a candidate vehicle.

5. The method of claim 3, wherein determining a cleaning point corresponding to each candidate vehicle based on the current location information of the candidate vehicle comprises:

acquiring current position information of the candidate vehicles and cleaning point position information of each cleaning point to be selected in the field aiming at each candidate vehicle; the cleaning points to be selected are cleaning points with identification information in an idle state;

and for each candidate vehicle, determining cleaning points to be selected corresponding to the candidate vehicle from all cleaning points to be selected according to the current position information of the candidate vehicle and the cleaning point position information of each cleaning point to be selected, and updating the identification information of the target cleaning point from an idle state to a busy state.

6. The method of claim 1, wherein the field work information comprises work to be completed and capacity within a preset time and the determining of the current work state of the field according to the field work information of the field to which the candidate vehicle belongs comprises:

and determining the current state of the site according to the relation between the work to be finished and the capacity within the preset time.

7. The method of claim 6, wherein the work to be completed includes a quantity of items to be picked, and the capacity within a predetermined time is determined by the number of picking station stations, the efficiency of each picking station, and the predetermined time.

8. The method of claim 1, wherein said determining a target vehicle to be washed from said candidate vehicles based on said current operating state comprises:

acquiring the total number of candidate vehicles;

determining a vehicle quantity proportion corresponding to the current operation state;

determining a target vehicle to be cleaned corresponding to the vehicle number proportion from the candidate vehicles based on the vehicle number proportion and the total number of vehicles.

9. The method of claim 1, further comprising, prior to sending a dispatch instruction to the target vehicle to travel to a corresponding cleaning point for cleaning:

for each target vehicle, acquiring current position information of the target vehicle and cleaning point position information of a corresponding cleaning point;

and determining a motion path of the target vehicle from the current position to a target cleaning point by adopting a preset path planning algorithm, and sending a scheduling instruction comprising the motion path to the target vehicle so that the target vehicle runs according to the motion path.

10. The method of claim 9, after determining the motion path corresponding to the target vehicle, further comprising:

when the trigger target operation is detected, generating a scheduling instruction corresponding to each target vehicle, and sending the scheduling instruction to the corresponding target vehicle so as to enable the target vehicle to start to move based on the scheduling instruction; the scheduling command comprises a target cleaning point and a motion path.

11. The method of claim 1, further comprising:

when a feedback signal of cleaning completion fed back by each target vehicle is received, acquiring feedback time information of the received feedback signal;

determining target time information of the target vehicle based on the feedback time information to determine a candidate vehicle based on the target time information.

12. The method of claim 1, further comprising:

and detecting the current operation state of the field, and when the current operation state is updated to an early warning state, sending a callback control signal to the target vehicle so that the target vehicle stops running to a target cleaning point or returns from the target cleaning point based on the callback control signal.

13. A vehicle dispatching device, comprising:

14. An apparatus, characterized in that the apparatus comprises:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the vehicle scheduling method of any of claims 1-12.

15. A storage medium containing computer executable instructions for performing the vehicle scheduling method of any one of claims 1-12 when executed by a computer processor.