WO2024066117A1

Movatterモバイル変換

Info

Publication number: WO2024066117A1
Application number: PCT/CN2022/144002
Authority: WO
Inventors: 何玉东
Original assignee: Beijing Eacon Technology Co Ltd
Current assignee: Beijing Eacon Technology Co Ltd
Priority date: 2022-09-27
Filing date: 2022-12-30
Publication date: 2024-04-04
Anticipated expiration: 2025-03-27
Also published as: AU2022481274B2; AU2022481274A1; CN115271559B; CN115271559A

Abstract

Disclosed in the present application are an unmanned vehicle scheduling platform, an unmanned vehicle, a scheduling method and a storage medium, belonging to the technical field of autonomous driving. The scheduling platform determining, within a working area, n excavators, m waste dumps, and at least two unmanned vehicles requiring to execute working tasks cyclically, at least one of n and m being greater than or equal to 2; setting for each unmanned vehicle priority information of the n excavators and/or of the m waste dumps, so as to obtain a cyclic scheduling task list containing the priority information; and sending the cyclic scheduling task list to the unmanned vehicles, so as to enable the unmanned vehicles not to depend on scheduling of the scheduling platform during cyclic execution of the working tasks, and selecting an excavator and/or a waste dump in real time on the basis of the priority information and communication data acquired by means of communication among vehicles, so as to execute the working tasks, the communication data representing the number of unmanned vehicles assigned to each excavator or each waste dump at a current moment. The present application improves the cooperative working efficiency of the unmanned vehicles in the working area.

Description

Translated fromChinese

无人车的调度平台、无人车、调度方法和存储介质Unmanned vehicle dispatching platform, unmanned vehicle, dispatching method and storage medium

技术领域Technical Field

本申请涉及无人驾驶技术领域，特别涉及一种无人车的调度平台、无人车、调度方法和存储介质。The present application relates to the field of unmanned driving technology, and in particular to an unmanned vehicle dispatching platform, an unmanned vehicle, a dispatching method and a storage medium.

背景技术Background technique

无人车需要先获取调度平台下发的作业任务，再执行作业任务。目前，无人车获取作业任务的方式一般是，在无人车完成上一个作业任务之后，或者，在即将完成上一个作业任务之前，通过调度平台为无人车更新作业任务。The unmanned vehicle needs to obtain the work tasks issued by the scheduling platform before executing the work tasks. At present, the way for unmanned vehicles to obtain work tasks is generally to update the work tasks for the unmanned vehicle through the scheduling platform after the unmanned vehicle completes the previous work task or before the previous work task is about to be completed.

当无人车执行作业任务的目标位置附近网络条件不好时，新的作业任务无法及时下发或者完全无法下发至无人车，导致无人车的运行效率降低或者完全终止作业。When the network conditions near the target location where the unmanned vehicle is performing a task are poor, new tasks cannot be sent to the unmanned vehicle in a timely manner or cannot be sent to the unmanned vehicle at all, resulting in reduced operating efficiency of the unmanned vehicle or complete termination of the task.

发明内容Summary of the invention

本申请提供了一种无人车的调度平台、无人车、调度方法和存储介质，用于解决作业任务无法及时或者完全无法下发至无人车时，导致无人车的运行效率降低或者完全终止作业的问题。所述技术方案如下：The present application provides an unmanned vehicle dispatching platform, an unmanned vehicle, a dispatching method and a storage medium, which are used to solve the problem that when the operation task cannot be sent to the unmanned vehicle in time or cannot be sent to the unmanned vehicle at all, the operation efficiency of the unmanned vehicle is reduced or the operation is completely terminated. The technical solution is as follows:

一方面，提供了一种无人车的调度平台，包括：任务构建模块和任务下发模块；On the one hand, a dispatching platform for unmanned vehicles is provided, including: a task building module and a task issuing module;

所述任务构建模块，能够确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车，所述作业任务包括在挖机处停靠以装载物料和在排土场处停靠以卸载物料，其中，n和m中的至少一个大于或等于2，且所述作业区域内的无人车之间以及无人车与挖机之间能够进行车间通信；针对每辆无人车设置所述n辆挖机和/或所述m个排土场的优先级信息，得到包含所述优先级信息的循环调度任务列表，所述优先级信息表示无人车选择挖机或排土场的优先级；The task construction module can determine n excavators, m dumping grounds and at least two unmanned vehicles that need to cyclically perform work tasks in an operation area, wherein the work tasks include stopping at the excavator to load materials and stopping at the dumping ground to unload materials, wherein at least one of n and m is greater than or equal to 2, and workshop communication can be performed between the unmanned vehicles and between the unmanned vehicles and the excavators in the operation area; priority information of the n excavators and/or the m dumping grounds is set for each unmanned vehicle, and a cyclic scheduling task list containing the priority information is obtained, wherein the priority information indicates the priority of the unmanned vehicle in selecting the excavator or the dumping ground;

所述任务下发模块，能够向无人车发送所述循环调度任务列表，以使所述无人车在循环执行作业任务时，不依靠调度平台的调度，基于所述优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，所述通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量；The task issuing module can send the cyclic scheduling task list to the unmanned vehicle, so that the unmanned vehicle can select an excavator and/or a dumping site to perform the task in real time based on the priority information and the communication data obtained by the workshop communication to perform the task in a cyclic manner without relying on the scheduling of the scheduling platform, wherein the communication data indicates the number of unmanned vehicles allocated to each excavator or each dumping site at the current moment;

所述任务构建模块，能够为所述n辆挖机设置至少两种优先级；为所述m个排土场设置至少两种优先级。The task construction module can set at least two priorities for the n excavators and at least two priorities for the m spoil dumps.

在一种可能的实现方式中，所述任务下发模块包括信息接收部和任务发送部；In a possible implementation, the task issuing module includes an information receiving unit and a task sending unit;

当所述信息接收部接收到触发指令或无人车上报的预设状态信息、完成指定任务信息或所处特定位置信息时，所述任务发送部向所述无人车发送所述循环调度任务列表。When the information receiving unit receives a trigger instruction or preset status information reported by the unmanned vehicle, information on completing a specified task or information on a specific location, the task sending unit sends the cyclic scheduling task list to the unmanned vehicle.

在一种可能的实现方式中，所述任务构建模块，能够获取每个作业区域内所有的挖机的待装时间，所述待装时间是一个挖机为已分配至自身的所有无人车装载物料所需的时间；基于每个作业区域对应的待装时间为每辆无人车分配一个作业区域，以使每个作业区域内所有的挖机的待装时间均衡；针对每个作业区域内的每辆无人车设置挖机的优先级信息，以使每个作业区域内的每个挖机的待装时间均衡。In one possible implementation, the task construction module can obtain the waiting time of all excavators in each working area, where the waiting time is the time required for an excavator to load materials for all unmanned vehicles assigned to it; allocate an operating area to each unmanned vehicle based on the waiting time corresponding to each operating area, so that the waiting time of all excavators in each operating area is balanced; set the priority information of the excavator for each unmanned vehicle in each operating area, so that the waiting time of each excavator in each operating area is balanced.

在一种可能的实现方式中，所述任务构建模块，能够从存储器中读取一个作业区域内的无人车信息、挖机信息和排土场信息，根据所述无人车信息、所述挖机信息和所述排土场信息确定所述作业区域内存在n辆挖机、m个排土场和至少两辆无人车。In one possible implementation, the task construction module can read the unmanned vehicle information, excavator information and spoil dump information in a working area from the memory, and determine that there are n excavators, m spoil dumps and at least two unmanned vehicles in the working area based on the unmanned vehicle information, the excavator information and the spoil dump information.

在一种可能的实现方式中，所述任务构建模块，能够在为所述n辆挖机设置至少两种优先级时，使不同优先级对应的无人车的数量均衡；在为所述m个排土场设置至少两种优先级时，使不同优先级对应的无人车的数量均衡。In one possible implementation, the task construction module can balance the number of unmanned vehicles corresponding to different priorities when at least two priorities are set for the n excavators; and balance the number of unmanned vehicles corresponding to different priorities when at least two priorities are set for the m spoil dumps.

在一种可能的实现方式中，所述任务构建模块，能够确定一个作业区域内的一辆挖机、一个排土场和没有局部决策能力的一辆无人车，生成循环调度任务列表；In a possible implementation, the task construction module can determine an excavator, a spoil dump, and an unmanned vehicle without local decision-making capabilities in an operation area, and generate a cyclic scheduling task list;

所述任务下发模块，能够向所述无人车发送所述循环调度任务列表，以使所述无人车在所述挖机和所述排土场之间循环作业。The task issuing module can send the cyclic scheduling task list to the unmanned vehicle so that the unmanned vehicle can operate cyclically between the excavator and the spoil dump.

一方面，提供了一种无人车，包括：任务接收模块和任务执行模块；In one aspect, an unmanned vehicle is provided, comprising: a task receiving module and a task executing module;

所述任务接收模块，能够接收无人车的调度平台发送的循环调度任务列表，所述循环调度任务列表包括针对至少两辆无人车设置的n辆挖机和/或m个排土场的优先级信息，所述至少两辆无人车、所述n辆挖机和所述m个排土场位于一个作业区域内，无人车需要循环执行在挖机处停靠以装载物料和在排土场处停靠以卸载物料的作业任务，且所述作业区域内的无人车之间以及无人车与挖机之间能够进行车间通信，其中，n和m中的至少一个大于或等于2，且所述优先级信息表示无人车选择挖机或排土场的优先级；The task receiving module is capable of receiving a cyclic scheduling task list sent by the scheduling platform of the unmanned vehicle, wherein the cyclic scheduling task list includes priority information of n excavators and/or m dumping grounds set for at least two unmanned vehicles, wherein the at least two unmanned vehicles, the n excavators and the m dumping grounds are located in an operating area, and the unmanned vehicles need to cyclically perform operating tasks of stopping at the excavator to load materials and stopping at the dumping ground to unload materials, and workshop communication can be performed between the unmanned vehicles and between the unmanned vehicles and the excavators in the operating area, wherein at least one of n and m is greater than or equal to 2, and the priority information indicates the priority of the unmanned vehicle in selecting the excavator or dumping ground;

所述任务执行模块，能够在循环执行作业任务时，不依靠所述调度平台的调度，基于所述优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，所述通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量。The task execution module can, when executing work tasks in a cycle, select an excavator and/or a spoil dump in real time to perform the work tasks based on the priority information and the communication data obtained through workshop communication without relying on the scheduling of the scheduling platform. The communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment.

在一种可能的实现方式中，还包括信息上报模块；In a possible implementation, it also includes an information reporting module;

所述信息上报模块，能够向所述调度平台上报预设状态信息、完成指定任务信息或所处特定位置信息，以使所述调度平台在接收到所述预设状态信息、完成指定任务信息或所处特定位置信息时，向所述无人车发送所述循环调度任务列表。The information reporting module can report preset status information, completion information of specified tasks or specific location information to the scheduling platform, so that the scheduling platform sends the cyclic scheduling task list to the unmanned vehicle when receiving the preset status information, completion information of specified tasks or specific location information.

在一种可能的实现方式中，In one possible implementation,

所述任务执行模块，能够从所述作业区域中选择至少一个待选的挖机，与所述至少一个待选的挖机或其他无人车进行车间通信以获取通信数据，根据所述通信数据从所述至少一个待选的挖机中选择一个挖机来执行作业任务；和/或，The task execution module can select at least one excavator to be selected from the working area, perform inter-vehicle communication with the at least one excavator to be selected or other unmanned vehicle to obtain communication data, and select an excavator from the at least one excavator to be selected according to the communication data to perform the working task; and/or,

所述任务执行模块，能够从所述作业区域中选择至少一个待选的排土场，与其他无人车进行车间通信以获取通信数据，根据所述通信数据从所述至少一个待选的排土场中选择一个排土场来执行作业任务。The task execution module can select at least one spoil dump to be selected from the work area, communicate with other unmanned vehicles in the workshop to obtain communication data, and select a spoil dump from the at least one spoil dump to be selected based on the communication data to perform the work task.

在一种可能的实现方式中，所述通信数据包括正在装载物料的无人车的第一数量、待装物料的无人车的第二数量和排队的无人车的第三数量；In a possible implementation, the communication data includes a first number of unmanned vehicles that are loading materials, a second number of unmanned vehicles to be loaded with materials, and a third number of unmanned vehicles in a queue;

所述任务执行模块，能够获取每个待选的挖机对应的第一数量、第二数量和第三数量，将所述第一数量、所述第二数量和所述第三数量之和最小的挖机确定为最终选择的挖机。The task execution module can obtain the first quantity, the second quantity and the third quantity corresponding to each excavator to be selected, and determine the excavator with the smallest sum of the first quantity, the second quantity and the third quantity as the excavator finally selected.

一方面，提供了一种无人车的调度方法，所述方法包括：On the one hand, a method for dispatching an unmanned vehicle is provided, the method comprising:

确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车，所述作业任务包括在挖机处停靠以装载物料和在排土场处停靠以卸载物料，其中，n和m中的至少一个大于或等于2，且所述作业区域内的无人车之间以及无人车与挖机之间能够进行通信；Determine n excavators, m dumping grounds, and at least two unmanned vehicles that need to cyclically perform work tasks in an operation area, wherein the work tasks include stopping at the excavator to load materials and stopping at the dumping ground to unload materials, wherein at least one of n and m is greater than or equal to 2, and the unmanned vehicles in the operation area can communicate with each other and with the excavators;

针对每辆无人车设置所述n辆挖机和/或所述m个排土场的优先级信息，得到包含所述优先级信息的循环调度任务列表，所述优先级信息表示无人车选择挖机或排土场的优先级；Setting the priority information of the n excavators and/or the m dumping grounds for each unmanned vehicle, and obtaining a cyclic scheduling task list including the priority information, wherein the priority information indicates the priority of the unmanned vehicle in selecting the excavator or dumping ground;

向无人车发送所述循环调度任务列表，以使所述无人车在循环执行作业任务时，不依靠调度平台的调度，基于所述优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，所述通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量；Sending the cyclic scheduling task list to the unmanned vehicle, so that when the unmanned vehicle cyclically performs the work task, it does not rely on the scheduling of the scheduling platform, and selects the excavator and/or the spoil dump in real time to perform the work task based on the priority information and the communication data obtained by the workshop communication, and the communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment;

所述针对每辆无人车设置所述n辆挖机和/或所述m个排土场的优先级信息，包括：为所述n辆挖机设置至少两种优先级；为所述m个排土场设置至少两种优先级。The step of setting the priority information of the n excavators and/or the m spoil dumps for each unmanned vehicle includes: setting at least two priorities for the n excavators; and setting at least two priorities for the m spoil dumps.

接收无人车的调度平台发送的循环调度任务列表，所述循环调度任务列表包括针对至少两辆无人车设置的n辆挖机和/或m个排土场的优先级信息，所述至少两辆无人车、所述n辆挖机和所述m个排土场位于一个作业区域内，无人车需要循环执行在挖机处停靠以装载物料和在排土场处停靠以卸载物料的作业任务，且所述作业区域内的无人车之间以及无人车与挖机之间能够进行通信，其中，n和m中的至少一个大于或等于2，且所述优先级信息表示无人车选择挖机或排土场的优先级；Receive a cyclic scheduling task list sent by a scheduling platform of an unmanned vehicle, the cyclic scheduling task list including priority information of n excavators and/or m dumping grounds set for at least two unmanned vehicles, the at least two unmanned vehicles, the n excavators and the m dumping grounds are located in an operating area, the unmanned vehicles need to cyclically perform operating tasks of stopping at the excavator to load materials and stopping at the dumping ground to unload materials, and the unmanned vehicles in the operating area and between the unmanned vehicles and the excavators can communicate, wherein at least one of n and m is greater than or equal to 2, and the priority information indicates the priority of the unmanned vehicle in selecting the excavator or dumping ground;

在循环执行作业任务时，不依靠调度平台的调度，基于所述优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，所述通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量。When executing work tasks in a cycle, the scheduling of the scheduling platform is not relied upon. The excavator and/or spoil dump are selected in real time to perform the work tasks based on the priority information and the communication data obtained through workshop communication. The communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment.

一方面，提供了一种计算机可读存储介质，所述存储介质中存储有至少一条指令，所述至少一条指令由处理器加载并执行以实现如上所述的无人车的调度方法。On the one hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the unmanned vehicle scheduling method as described above.

本申请提供的技术方案的有益效果至少包括：The beneficial effects of the technical solution provided by this application include at least:

通过确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车；然后，针对每辆无人车设置n辆挖机和/或m个排土场的优先级信息，得到包含优先级信息的循环调度任务列表；最后，向无人车发送循环调度任务列表。这样，通过一次性下发循环调度任务，使得无人车能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场来执行作业任务，在实现调度平台对挖机和排土场进行约束的同时，还能够为无人车提供一定的决策选择权，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度，提高了作业区域内无人车的协同作业效率。By determining n excavators, m dumping grounds and at least two unmanned vehicles that need to perform work tasks cyclically in an operation area; then, setting the priority information of n excavators and/or m dumping grounds for each unmanned vehicle, a cyclic scheduling task list containing priority information is obtained; finally, the cyclic scheduling task list is sent to the unmanned vehicle. In this way, by issuing cyclic scheduling tasks once, the unmanned vehicle can select excavators and/or dumping grounds to perform work tasks in real time based on the priority information and the communication data obtained by the local communication capability between vehicles (such as V2V or V2I, etc.) without relying on the scheduling of the scheduling platform when performing work tasks cyclically. While realizing the scheduling platform to constrain the excavator and dumping ground, it can also provide the unmanned vehicle with a certain decision-making option, so as to realize the optimization scheduling in the local range under the condition of poor network or even complete loss of network, and improve the collaborative work efficiency of unmanned vehicles in the operation area.

通过一次性下发循环调度任务列表，使得无人车可以在循环执行作业任务时自行调度至自身选择的挖机和/或排土场，相比于每次作业都需要接收调度平台发送的调度任务来说，可以极大地减少通信次数和通信数据量。By sending a list of cyclic scheduling tasks at one time, the unmanned vehicle can be dispatched to the excavator and/or spoil dump of its own choice when performing work tasks in a cycle. Compared with receiving scheduling tasks sent by the scheduling platform for each operation, the number of communications and the amount of communication data can be greatly reduced.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

图1是本申请再一实施例提供的无人车的调度平台的结构框图；FIG1 is a structural block diagram of an unmanned vehicle dispatching platform provided in yet another embodiment of the present application;

图2是本申请再一实施例提供的无人车的结构框图；FIG2 is a structural block diagram of an unmanned vehicle provided by yet another embodiment of the present application;

图3是本申请一个实施例提供的无人车的调度方法的方法流程图；FIG3 is a method flow chart of a method for dispatching an unmanned vehicle provided by an embodiment of the present application;

图4是本申请另一实施例提供的无人车的调度方法的方法流程图。FIG4 is a flow chart of a method for dispatching an unmanned vehicle provided in another embodiment of the present application.

具体实施方式Detailed ways

为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

在部分应用场景中，无人车能够在有限的作业任务之间循环作业。以矿山无人驾驶的应用场景为例，无人车在采运排作业流程中的作业任务列表一般包含以下六个作业任务：In some application scenarios, unmanned vehicles can cycle between limited tasks. Taking the application scenario of unmanned driving in mines as an example, the task list of unmanned vehicles in the mining and transportation process generally includes the following six tasks:

1、从排土位排完土后，前往装载区路口；1. After dumping the soil from the dumping position, go to the intersection of the loading area;

2、到达装载区路口后，前往指定的挖机装载位；2. After arriving at the loading area intersection, go to the designated excavator loading position;

3、到达指定的挖机装载位后，由挖机给无人车进行物料装载；3. After arriving at the designated excavator loading position, the excavator loads the materials into the unmanned vehicle;

4、物料装载完成后，前往卸载区路口；4. After the material is loaded, go to the unloading area intersection;

5、到达卸载区路口后，前往指定的排土场中的排土位；5. After arriving at the unloading area intersection, go to the designated dumping site in the dumping area;

6、到达指定的排土场中的排土位后，开始排土。6. After arriving at the designated dumping site in the dumping yard, start dumping the soil.

在正常的采运排作业流程中，无人车长期在上述作业任务1-6之间循环往复。In the normal mining and transportation operation process, the unmanned vehicle cycles back and forth between the above-mentioned operation tasks 1-6 for a long time.

当将多辆无人车组成无人车队时，该无人车队中的多辆无人车会在局部范围内协同作业。以矿山无人驾驶的应用场景为例，在装载区内存在多辆挖机时，不同的无人车进入装载区后，调度平台会给每一辆无人车指定其对应的挖机。如：When multiple unmanned vehicles are combined into an unmanned vehicle fleet, the multiple unmanned vehicles in the unmanned vehicle fleet will work together in a local area. Taking the application scenario of unmanned driving in mines as an example, when there are multiple excavators in the loading area, after different unmanned vehicles enter the loading area, the dispatching platform will assign each unmanned vehicle to its corresponding excavator. For example:

无人车1：挖机1装载Unmanned vehicle 1: Excavator 1 loading

无人车2：挖机2装载Unmanned Vehicle 2: Excavator 2 Loading

无人车3：挖机1待装Unmanned vehicle 3: Excavator 1 waiting to be loaded

无人车4：挖机2待装Unmanned vehicle 4: Excavator 2 waiting to be installed

无人车5：挖机1排队Unmanned vehicle 5: Excavator 1 queue

无人车6：挖机2排队Unmanned Vehicle 6: Excavator 2 queue

调度平台根据挖机的装载、待装、排队等车辆数以及预估的装载时间等因素，为车队内到达装载区的无人车指定其对应的挖机。The dispatching platform assigns the corresponding excavator to the unmanned vehicle in the fleet that arrives at the loading area based on factors such as the number of vehicles loading, waiting to be loaded, and queuing for the excavator and the estimated loading time.

当装载区出现网络问题时，调度平台无法获取到装载区内的无人车和挖机的运行状态，当出现挖机缺车等问题时，无法进行修正。When network problems occur in the loading area, the dispatching platform cannot obtain the operating status of the unmanned vehicles and excavators in the loading area. When problems such as lack of excavators occur, corrections cannot be made.

为了克服上述问题，本申请提供了一种基于循环作业任务的调度方法，先确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车；然后，针对每辆无人车设置n辆挖机和/或m个排土场的优先级信息，得到包含优先级信息的循环调度任务列表；最后，向无人车发送循环调度任务列表。这样，通过一次性下发循环调度任务，使得无人车能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场来执行作业任务，在实现调度平台对挖机和排土场进行约束的同时，还能够为无人车提供一定的决策选择权，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度，提高了作业区域内无人车的协同作业效率。In order to overcome the above problems, the present application provides a scheduling method based on cyclic operation tasks, first determining n excavators, m dumping grounds and at least two unmanned vehicles that need to perform operation tasks cyclically in an operation area; then, setting the priority information of n excavators and/or m dumping grounds for each unmanned vehicle, and obtaining a cyclic scheduling task list containing priority information; finally, sending the cyclic scheduling task list to the unmanned vehicle. In this way, by issuing cyclic scheduling tasks once, the unmanned vehicle can select the excavator and/or dumping ground in real time to perform the operation task based on the priority information and the communication data obtained by the local communication capability between vehicles (such as V2V or V2I, etc.) when performing the operation task cyclically, without relying on the scheduling of the scheduling platform, and the communication data obtained by the local communication capability between vehicles (such as V2V or V2I, etc.), while realizing the scheduling platform to constrain the excavator and dumping ground, it can also provide the unmanned vehicle with a certain decision-making option, so as to realize the optimization scheduling in the local range under the condition of poor network or even complete loss of network, and improve the collaborative operation efficiency of the unmanned vehicles in the operation area.

在通过上述调度方法实现了无人车队内的多辆无人车之间的协作作业后，调度平台可以将无人车的多个作业任务组织为一个循环作业任务列表，并将循环作业任务列表一次性下发给无人车，无人车在执行完单次的作业任务之后，如果由于网络情况无法及时收到或者完全无法收到更新的作业任务时，则循环执行循环作业任务列表中的作业任务，等待网络情况恢复并收到新的循环作业任务列表时，按照新的循环作业任务列表继续循环执行作业任务。After the collaborative operation between multiple unmanned vehicles in the unmanned vehicle fleet is realized through the above-mentioned scheduling method, the scheduling platform can organize the multiple operation tasks of the unmanned vehicle into a cyclic operation task list, and send the cyclic operation task list to the unmanned vehicle at one time. After the unmanned vehicle completes a single operation task, if it cannot receive the updated operation task in time or cannot receive it at all due to network conditions, it will cyclically execute the operation tasks in the cyclic operation task list. When the network condition is restored and a new cyclic operation task list is received, it will continue to cyclically execute the operation tasks according to the new cyclic operation task list.

请参考图1，其示出了本申请一个实施例提供的无人车的调度平台的结构框图。该无人车的调度平台，可以包括：任务构建模块110和任务下发模块120。Please refer to FIG1 , which shows a block diagram of a scheduling platform for an unmanned vehicle provided by an embodiment of the present application. The scheduling platform for an unmanned vehicle may include: atask construction module 110 and atask issuing module 120 .

任务构建模块110，能够确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车，作业任务包括在挖机处停靠以装载物料和在排土场处停靠以卸载物料，其中，n和m中的至少一个大于或等于2，且作业区域内的无人车之间以及无人车与挖机之间能够进行车间通信；针对每辆无人车设置n辆挖机和/或m个排土场的优先级信息，得到包含优先级信息的循环调度任务列表，优先级信息表示无人车选择挖机或排土场的优先级。Thetask construction module 110 can determine n excavators, m spoil dumps and at least two unmanned vehicles that need to cyclically perform work tasks in an operating area, wherein the work tasks include stopping at the excavator to load materials and stopping at the spoil dump to unload materials, wherein at least one of n and m is greater than or equal to 2, and workshop communication can be performed between the unmanned vehicles in the operating area and between the unmanned vehicles and the excavators; priority information of the n excavators and/or m spoil dumps is set for each unmanned vehicle, and a cyclic scheduling task list containing priority information is obtained, wherein the priority information indicates the priority of the unmanned vehicle in selecting an excavator or a spoil dump.

本实施例中，无人车需要进行采运排作业流程。简单来说，无人车需要先行驶至指定的挖机处，由挖机为无人车装载物料；然后，无人车再将物料运输到指定的排土场处卸载物料。其中，挖机是为无人车装载物料的作业车，排土场是至少一个排土位的集合，排土位是指一个具有固定长宽的车位，以便于无人车进行停靠来卸载物料。比如，一个作业区域中划分有排土位1-10，则可以将排土位1-5称为排土场1，将排土位6-10称为排土场2。In this embodiment, the unmanned vehicle needs to carry out the mining, transportation and drainage operation process. Simply put, the unmanned vehicle needs to first drive to the designated excavator, and the excavator will load the materials for the unmanned vehicle; then, the unmanned vehicle will transport the materials to the designated dumping ground to unload the materials. Among them, the excavator is the work vehicle that loads materials for the unmanned vehicle, and the dumping ground is a collection of at least one dumping position. The dumping position refers to a parking space with a fixed length and width for the unmanned vehicle to dock and unload materials. For example, if a work area is divided into dumping positions 1-10, then dumping positions 1-5 can be called dumping ground 1, and dumping positions 6-10 can be called dumping ground 2.

作业区域是指包含无人车、挖机和排土场的一个区域，且无人车能够在该区域内执行作业任务，即，无人车从挖机处装载物料，将该物料运输到排土场后卸载。一个应用场景中通常会包括多个作业区域，且位于一个作业区域内的无人车之间以及无人车和挖机之间能够进行车间通信。即，位于作业区域内的每辆无人车和每辆挖机之间都可以进行V2V(车对车)或者V2I(车对基础设施)等局部通信，以交换信息。The work area refers to an area that includes unmanned vehicles, excavators, and spoil dumps, and the unmanned vehicles can perform work tasks in this area, that is, the unmanned vehicle loads materials from the excavator, transports the materials to the spoil dump, and then unloads them. An application scenario usually includes multiple work areas, and workshop communication can be carried out between unmanned vehicles and between unmanned vehicles and excavators in an work area. That is, each unmanned vehicle and each excavator in the work area can perform local communication such as V2V (vehicle-to-vehicle) or V2I (vehicle-to-infrastructure) to exchange information.

本实施例中，任务构建模块110可以从存储器中读取一个作业区域内的无人车信息、挖机信息和排土场信息，从而根据无人车信息、挖机信息和排土场信息确定一个作业区域内存在至少两辆无人车、n辆挖机和m个排土场。由于需要实现无人车之间的协同作业，所以，一个作业区域包括至少两辆无人车，挖机的数量为n，排土场的数量为m，且n和m中的至少一个大于或等于2。即，一个作业区域中存在至少两辆挖机和至少一个排土场，或者，一个作业区域中存在至少一辆挖机和至少两个排土场。In this embodiment, thetask construction module 110 can read the unmanned vehicle information, excavator information and spoil dump information in a work area from the memory, so as to determine that there are at least two unmanned vehicles, n excavators and m spoil dumps in a work area according to the unmanned vehicle information, excavator information and spoil dump information. Since it is necessary to realize the collaborative operation between unmanned vehicles, an operation area includes at least two unmanned vehicles, the number of excavators is n, the number of spoil dumps is m, and at least one of n and m is greater than or equal to 2. That is, there are at least two excavators and at least one spoil dump in a work area, or there is at least one excavator and at least two spoil dumps in a work area.

当n＝1时，无需设置挖机的优先级信息；当n≥2时，任务构建模块110需要针对每辆无人车设置每辆挖机的优先级信息。比如，存在挖机1-3，且存在无人车1-3，则需要为无人车 1设置挖机1-3的优先级信息，为无人车2设置挖机1-3的优先级信息，为无人车3设置挖机1-3的优先级信息。同理，当m＝1时，无需设置排土场的优先级信息；当m大于等于2时，任务构建模块110需要针对每辆无人车设置每个排土场的优先级信息。比如，存在排土场1-3，且存在无人车1-3，则需要为无人车1设置排土场1-3的优先级信息，为无人车2设置排土场1-3的优先级信息，为无人车3设置排土场1-3的优先级信息。When n=1, there is no need to set the priority information of the excavator; when n≥2, thetask construction module 110 needs to set the priority information of each excavator for each unmanned vehicle. For example, if there are excavators 1-3 and unmanned vehicles 1-3, it is necessary to set the priority information of excavators 1-3 for unmanned vehicle 1, the priority information of excavators 1-3 for unmanned vehicle 2, and the priority information of excavators 1-3 for unmanned vehicle 3. Similarly, when m=1, there is no need to set the priority information of the spoil dump; when m is greater than or equal to 2, thetask construction module 110 needs to set the priority information of each spoil dump for each unmanned vehicle. For example, if there are spoil dumps 1-3 and unmanned vehicles 1-3, it is necessary to set the priority information of spoil dumps 1-3 for unmanned vehicle 1, the priority information of spoil dumps 1-3 for unmanned vehicle 2, and the priority information of spoil dumps 1-3 for unmanned vehicle 3.

在设置优先级信息时，任务构建模块110可以利用数值来表示优先级信息，且数值与优先级的等级之间的关系可以根据需求设置。若数值与等级呈负相关关系，则数值越小，等级越高；若数值与等级呈正相关关系，则数值越大，等级越高。以数值与等级呈负相关关系为例，假设针对无人车1，任务构建模块110设置了挖机1-3的数值分别为1-3，则挖机1的优先级最高，挖机3的优先级最低。即，无人车1会最优先选择挖机1执行作业任务。When setting the priority information, thetask construction module 110 can use a numerical value to represent the priority information, and the relationship between the numerical value and the priority level can be set according to the needs. If the numerical value is negatively correlated with the level, the smaller the numerical value, the higher the level; if the numerical value is positively correlated with the level, the larger the numerical value, the higher the level. Taking the negative correlation between the numerical value and the level as an example, assuming that for unmanned vehicle 1, thetask construction module 110 sets the numerical values of excavators 1-3 to 1-3 respectively, then excavator 1 has the highest priority and excavator 3 has the lowest priority. That is, unmanned vehicle 1 will give the highest priority to excavator 1 to perform the task.

任务构建模块110需要基于无人车的数量、n和m来设置优先级信息，以保证负载均衡。Thetask construction module 110 needs to set priority information based on the number of unmanned vehicles, n and m to ensure load balancing.

以挖机为例，任务构建模块110，能够获取每个作业区域内所有的挖机的待装时间，待装时间是一个挖机为已分配至自身的所有无人车装载物料所需的时间；基于每个作业区域对应的待装时间为每辆无人车分配一个作业区域，以使每个作业区域内所有的挖机的待装时间均衡；针对每个作业区域内的每辆无人车设置挖机的优先级信息，以使每个作业区域内的每个挖机的待装时间均衡。Taking the excavator as an example, thetask construction module 110 can obtain the waiting time of all excavators in each working area. The waiting time is the time required for an excavator to load materials for all unmanned vehicles assigned to it; based on the waiting time corresponding to each working area, an working area is assigned to each unmanned vehicle to balance the waiting time of all excavators in each working area; the priority information of the excavator is set for each unmanned vehicle in each working area to balance the waiting time of each excavator in each working area.

可选的，任务构建模块110，能够为n辆挖机设置至少两种优先级；为m个排土场设置至少两种优先级。通过为n辆挖机设置至少两种优先级，使得无人车能够基于挖机的优先级的高低自主选择挖机来执行作业任务，为无人车选择挖机提供了参考依据。同理，通过为m个排土场设置至少两种优先级，使得无人车能够基于排土场的优先级的高低自主选择排土场来执行作业任务，为无人车选择排土场提供了参考依据。Optionally, thetask construction module 110 can set at least two priorities for n excavators and at least two priorities for m spoil dumps. By setting at least two priorities for n excavators, the unmanned vehicle can autonomously select an excavator to perform the task based on the priority of the excavator, providing a reference for the unmanned vehicle to select an excavator. Similarly, by setting at least two priorities for m spoil dumps, the unmanned vehicle can autonomously select a spoil dump to perform the task based on the priority of the spoil dump, providing a reference for the unmanned vehicle to select a spoil dump.

可选的，任务构建模块110，在为n辆挖机设置至少两种优先级时，使不同优先级对应的无人车的数量均衡；在为m个排土场设置至少两种优先级时，使不同优先级对应的无人车的数量均衡，从而通过优先级来实现负载均衡。Optionally, thetask construction module 110, when setting at least two priorities for n excavators, balances the number of unmanned vehicles corresponding to different priorities; when setting at least two priorities for m spoil dumps, balances the number of unmanned vehicles corresponding to different priorities, thereby achieving load balancing through priority.

具体的，任务构建模块110，能够为n辆挖机设置至少两种优先级，且不同优先级对应的无人车的数量均衡；为m个排土场设置至少两种优先级，且不同优先级对应的无人车的数量均衡。Specifically, thetask construction module 110 can set at least two priorities for n excavators, and the number of unmanned vehicles corresponding to different priorities is balanced; and at least two priorities are set for m spoil dumps, and the number of unmanned vehicles corresponding to different priorities is balanced.

比如，作业区域内包括挖机1-3，排土场1-3，且存在无人车1-3，则设置的优先级信息如下：For example, if the operation area includes excavators 1-3, spoil dumps 1-3, and unmanned vehicles 1-3, the priority information is set as follows:

无人车1：Unmanned vehicle 1:

挖机：Excavator:

挖机1装载，优先级1Excavator 1 loading, priority 1

挖机2装载，优先级2Excavator 2 loading, priority 2

挖机3装载，优先级3Excavator 3 loading, priority 3

排土场：Disposal site:

排土场1，排土位1-排土位5，优先级1Dumping site 1, dumping position 1-dumping position 5, priority 1

排土场2，排土位6-排土位10，优先级2Dumping site 2, dumping position 6-10, priority 2

无人车2：Unmanned Vehicle 2:

挖机：Excavator:

挖机2装载，优先级1Excavator 2 loading, priority 1

挖机3装载，优先级2Excavator 3 loading, priority 2

挖机1装载，优先级3Excavator 1 loading, priority 3

排土场：Disposal site:

排土场2，排土位6-排土位10，优先级1Dumping site 2, dumping position 6-10, priority 1

排土场3，排土位11-排土位15，优先级2Dumping site 3, dumping position 11-15, priority 2

无人车3：Unmanned Vehicle 3:

挖机：Excavator:

挖机3装载，优先级1Excavator 3 loading, priority 1

挖机1装载，优先级2Excavator 1 loading, priority 2

挖机2装载，优先级3Excavator 2 loading, priority 3

排土场：Disposal site:

排土场3，排土位11-排土位15，优先级1Dumping site 3, dumping position 11-15, priority 1

排土场1，排土位1-排土位5，优先级2Dumping site 1, dumping position 1-dumping position 5, priority 2

在上面的示例中，挖机1-3相对于每辆无人车设置了3种优先级，且每种优先级对应的无人车的数量都是1；排土场1-3相对于每辆无人车设置了3种优先级，且每种优先级对应的无人车的数量都是1，从而实现了负载均衡。In the above example, three priorities are set for excavators 1-3 relative to each unmanned vehicle, and the number of unmanned vehicles corresponding to each priority is 1; three priorities are set for spoil dumps 1-3 relative to each unmanned vehicle, and the number of unmanned vehicles corresponding to each priority is 1, thus achieving load balancing.

任务下发模块120，能够向无人车发送循环调度任务列表，以使无人车在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量。Thetask issuing module 120 can send a cyclic scheduling task list to the unmanned vehicle so that the unmanned vehicle does not rely on the scheduling of the scheduling platform when cyclically performing the work tasks. It selects the excavator and/or the spoil dump in real time to perform the work tasks based on the priority information and the communication data obtained through the workshop communication. The communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment.

在生成循环调度任务列表后，任务下发模块120可以在任意时刻将循环调度任务列表下发给无人车。After generating the cyclic scheduling task list, thetask issuing module 120 can issue the cyclic scheduling task list to the unmanned vehicle at any time.

在一个可选的实施例中，任务下发模块120包括信息接收部和任务发送部，且在信息接收部接收到触发信息时，任务发送部向无人车发送循环调度任务列表。即，当信息接收部接收到触发指令或无人车上报的预设状态信息、完成指定任务信息或所处特定位置信息时，任务发送部向无人车发送循环调度任务列表。In an optional embodiment, thetask sending module 120 includes an information receiving unit and a task sending unit, and when the information receiving unit receives the trigger information, the task sending unit sends the cyclic scheduling task list to the unmanned vehicle. That is, when the information receiving unit receives the trigger instruction or the preset state information reported by the unmanned vehicle, the completion of the specified task information or the specific location information, the task sending unit sends the cyclic scheduling task list to the unmanned vehicle.

在一种实现方式中，触发信息是触发指令。其中，触发指令可以是人工触发的，也可以其他调度平台发送的，本实施例中不限定触发指令的来源。In one implementation, the trigger information is a trigger instruction, wherein the trigger instruction may be manually triggered or sent by other scheduling platforms, and the source of the trigger instruction is not limited in this embodiment.

在另一种实现方式中，触发信息是无人车上报的预设状态信息、完成指定任务信息或所处特定位置信息。其中，预定状态信息表示无人车正在处于预设状态或即将处于预设状态，这里所说的预设状态可以根据实际需求设置。比如，预设状态信息表示无人车即将驶入网络信号较差的区域内，说明无人车在未来的一段时间内可能接收不到任务下发模块120发送的循环调度任务列表，所以，需要提前向无人车发送循环调度任务列表。又比如，预设状态信息表示无人车当前的网络信号较好，所以，需要向无人车发送循环调度任务列表，以避免无人车网络信号变差而无法接收到循环调度任务列表。In another implementation, the trigger information is preset state information, completion of specified tasks, or specific location information reported by the unmanned vehicle. Among them, the preset state information indicates that the unmanned vehicle is in a preset state or is about to be in a preset state, and the preset state mentioned here can be set according to actual needs. For example, the preset state information indicates that the unmanned vehicle is about to enter an area with poor network signals, which means that the unmanned vehicle may not receive the cyclic scheduling task list sent by thetask issuing module 120 in the future. Therefore, it is necessary to send the cyclic scheduling task list to the unmanned vehicle in advance. For another example, the preset state information indicates that the current network signal of the unmanned vehicle is good, so it is necessary to send a cyclic scheduling task list to the unmanned vehicle to avoid the unmanned vehicle network signal deteriorating and unable to receive the cyclic scheduling task list.

完成指定任务信息表示无人车已完成指定任务，这里所说的指定任务可以是阶段性或实现难度较大的任务。比如，指定任务可以是加油任务，则可以在无人车加完油后向无人车发送循环调度任务列表。又比如，指定任务可以是单次任务，则可以在无人车完成单次任务后向无人车发送循环调度任务列表。The completion of the designated task information indicates that the unmanned vehicle has completed the designated task. The designated task here may be a phased task or a task that is difficult to achieve. For example, the designated task may be a refueling task, and a cyclic scheduling task list may be sent to the unmanned vehicle after the unmanned vehicle has finished refueling. For another example, the designated task may be a single task, and a cyclic scheduling task list may be sent to the unmanned vehicle after the unmanned vehicle completes the single task.

特定位置信息表示无人车所处的特定位置，这里所说的特定位置可以根据实际需求设置。比如，特定位置可以是基站附近位置，此时无人车的网络信号较好，所以，需要向无人车发送循环调度任务列表。又比如，特定位置可以是无人车的发车位置，说明无人车还未发车，所以，需要向无人车发送循环调度任务列表，以使无人车在发车后直接循环调度作业任务。The specific location information indicates the specific location of the unmanned vehicle. The specific location mentioned here can be set according to actual needs. For example, the specific location can be a location near a base station. At this time, the network signal of the unmanned vehicle is good, so it is necessary to send a cyclic scheduling task list to the unmanned vehicle. For another example, the specific location can be the departure location of the unmanned vehicle, which means that the unmanned vehicle has not yet departed. Therefore, it is necessary to send a cyclic scheduling task list to the unmanned vehicle so that the unmanned vehicle can directly cyclically schedule the operation tasks after departure.

在执行循环作业任务列表中的作业任务时，无人车需要在挖机和排土场之间循环作业，那么，无人车可以不依靠调度平台的调度，而是基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场进行作业，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度。When executing the work tasks in the cyclic work task list, the unmanned vehicle needs to cycle between the excavator and the spoil dump. In this case, the unmanned vehicle does not rely on the scheduling of the scheduling platform, but instead selects the excavator and/or spoil dump in real time based on the communication data obtained by the priority information and the local communication capabilities between vehicles (such as V2V or V2I, etc.), thereby maintaining optimized scheduling within a local range even when the network conditions are poor or even the network is completely lost.

需要说明的是，对于没有局部决策能力的无人车，可以将n和m均设置为1，从而限定该无人车只能在一个挖机和一个排土场之间循环作业，实现与现有的调度方式的兼容。It should be noted that for unmanned vehicles without local decision-making capabilities, both n and m can be set to 1, thereby limiting the unmanned vehicle to cycle between an excavator and a spoil dump, thereby achieving compatibility with existing scheduling methods.

可选的，任务构建模块110，能够确定一个作业区域内的一辆挖机、一个排土场和没有局部决策能力的一辆无人车，生成循环调度任务列表；任务下发模块120，能够向无人车发送循环调度任务列表，以使无人车在挖机和排土场之间循环作业。通过循环调度任务列表来限定一个作业区域内只包含一辆挖机、一个排土场和一辆无人车，使得该无人车无需选择挖机和排土场，只能在一个挖机和一个排土场之间循环作业。Optionally, thetask construction module 110 can determine an excavator, a dumping ground, and an unmanned vehicle without local decision-making ability in an operation area, and generate a cyclic scheduling task list; thetask delivery module 120 can send the cyclic scheduling task list to the unmanned vehicle so that the unmanned vehicle can cycle between the excavator and the dumping ground. The cyclic scheduling task list is used to limit an operation area to contain only one excavator, one dumping ground, and one unmanned vehicle, so that the unmanned vehicle does not need to select an excavator and a dumping ground, and can only cycle between an excavator and a dumping ground.

综上所述，本申请实施例提供的无人车的调度平台，通过确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车；然后，针对每辆无人车设置n辆挖机和/或m个排土场的优先级信息，得到包含优先级信息的循环调度任务列表；最后，向无人车发送循环调度任务列表。这样，通过一次性下发循环调度任务，使得无人车能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场来执行作业任务，在实现调度平台对挖机和排土场进行约束的同时，还能够为无人车提供一定的决策选择权，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度，提高了作业区域内无人车的协同作业效率。In summary, the unmanned vehicle scheduling platform provided in the embodiment of the present application determines n excavators, m dumping grounds and at least two unmanned vehicles that need to perform work tasks cyclically in an operation area; then, the priority information of n excavators and/or m dumping grounds is set for each unmanned vehicle to obtain a cyclic scheduling task list containing priority information; finally, the cyclic scheduling task list is sent to the unmanned vehicle. In this way, by issuing cyclic scheduling tasks once, the unmanned vehicle can select the excavator and/or dumping ground in real time to perform the work task based on the priority information and the communication data obtained by the local communication capability between vehicles (such as V2V or V2I, etc.) when performing the work task cyclically, without relying on the scheduling of the scheduling platform. While realizing the scheduling platform to constrain the excavator and the dumping ground, it can also provide the unmanned vehicle with a certain decision-making option, so as to realize the optimization scheduling in the local range under the condition of poor network or even complete loss of network, and improve the collaborative work efficiency of the unmanned vehicles in the operation area.

请参考图2，其示出了本申请一个实施例提供的无人车的结构框图。该无人车，可以包括：任务接收模块210和任务执行模块220。Please refer to FIG2 , which shows a block diagram of an unmanned vehicle provided by an embodiment of the present application. The unmanned vehicle may include: atask receiving module 210 and atask executing module 220 .

任务接收模块210，能够接收无人车的调度平台发送的循环调度任务列表，循环调度任务列表包括针对至少两辆无人车设置的n辆挖机和/或m个排土场的优先级信息，至少两辆无人车、n辆挖机和m个排土场位于一个作业区域内，无人车需要循环执行在挖机处停靠以装载物料和在排土场处停靠以卸载物料的作业任务，且作业区域内的无人车之间以及无人车与挖机之间能够进行车间通信，其中，n和m中的至少一个大于或等于2，且优先级信息表示无人车选择挖机或排土场的优先级。Thetask receiving module 210 is capable of receiving a cyclic scheduling task list sent by the unmanned vehicle scheduling platform, wherein the cyclic scheduling task list includes priority information of n excavators and/or m spoil dumps set for at least two unmanned vehicles, at least two unmanned vehicles, n excavators and m spoil dumps are located in an operating area, and the unmanned vehicles need to cyclically perform the operating tasks of stopping at the excavator to load materials and stopping at the spoil dump to unload materials, and workshop communication can be performed between the unmanned vehicles in the operating area and between the unmanned vehicles and the excavators, wherein at least one of n and m is greater than or equal to 2, and the priority information indicates the priority of the unmanned vehicle in selecting the excavator or the spoil dump.

其中，循环调度任务列表的解释详见上文中的描述，此处不再赘述。The explanation of the cyclic scheduling task list is detailed in the above description and will not be repeated here.

在一个可选的实施例中，无人车还包括信息上报模块230；信息上报模块230，能够向调度平台上报预设状态信息、完成指定任务信息或所处特定位置信息，以使调度平台在接收到预设状态信息、完成指定任务信息或所处特定位置信息时，向无人车发送循环调度任务列表。其中，预设状态信息、完成指定任务信息和所处特定位置信息的解释详见上文中的描述，此处不再赘述。In an optional embodiment, the unmanned vehicle further includes aninformation reporting module 230; theinformation reporting module 230 can report preset state information, completion of specified tasks information or specific location information to the dispatching platform, so that the dispatching platform sends a cyclic dispatching task list to the unmanned vehicle when receiving the preset state information, completion of specified tasks information or specific location information. The explanation of the preset state information, completion of specified tasks information and specific location information is detailed in the above description and will not be repeated here.

任务执行模块220，能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量。Thetask execution module 220 can select excavators and/or spoil dumps in real time to perform work tasks based on priority information and communication data obtained through workshop communication without relying on the scheduling of the scheduling platform when executing work tasks in a cycle. The communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment.

在选择挖机时，任务执行模块220，能够从作业区域中选择至少一个待选的挖机，与至少一个待选的挖机或其他无人车进行车间通信以获取通信数据，根据通信数据从至少一个待选的挖机中选择一个挖机来执行作业任务。When selecting an excavator, thetask execution module 220 can select at least one excavator to be selected from the working area, perform workshop communication with at least one excavator to be selected or other unmanned vehicles to obtain communication data, and select an excavator from at least one excavator to be selected to perform the working task based on the communication data.

在选择排土场时，任务执行模块220，能够从作业区域中选择至少一个待选的排土场，与其他无人车进行车间通信以获取通信数据，根据通信数据从至少一个待选的排土场中选择一个排土场来执行作业任务。When selecting a spoil dump, thetask execution module 220 can select at least one spoil dump to be selected from the working area, communicate with other unmanned vehicles in the workshop to obtain communication data, and select a spoil dump from at least one spoil dump to be selected based on the communication data to perform the working task.

具体的，通信数据包括正在装载物料的无人车的第一数量、待装物料的无人车的第二数量和排队的无人车的第三数量；任务执行模块220，能够获取每个待选的挖机对应的第一数量、第二数量和第三数量，将第一数量、第二数量和第三数量之和最小的挖机确定为最终选择的挖机。Specifically, the communication data includes the first number of unmanned vehicles that are loading materials, the second number of unmanned vehicles to be loaded with materials, and the third number of unmanned vehicles in line; thetask execution module 220 can obtain the first number, second number and third number corresponding to each excavator to be selected, and determine the excavator with the smallest sum of the first number, second number and third number as the excavator finally selected.

由于第一数量、第二数量和第三数量之和最小，说明挖机中排队的无人车最少，所以，可以选择该挖机来执行作业任务，从而减少排队时间，提高了作业效率。Since the sum of the first number, the second number and the third number is the smallest, it means that there are the fewest unmanned vehicles queued in the excavator. Therefore, this excavator can be selected to perform the work task, thereby reducing the queuing time and improving the work efficiency.

在无人车进行决策时，由于无需调度平台的参与，并且无人车是以实时的局部进行的决策，因此，决策的结果不依赖与调度平台的网络连接，且可以始终根据最新的数据进行决策，从而实现即使在网络异常情况下，局部场景依旧是保持最优的调度结果。When the unmanned vehicle makes a decision, there is no need for the participation of the dispatching platform, and the unmanned vehicle makes decisions locally in real time. Therefore, the result of the decision does not depend on the network connection with the dispatching platform, and decisions can always be made based on the latest data, so that even in the case of network anomalies, the local scene still maintains the optimal dispatching result.

综上所述，本申请实施例提供的无人车，通过一次性接收循环调度任务，使得无人车能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场来执行作业任务，在实现调度平台对挖机和排土场进行约束的同时，还能够为无人车提供一定的决策选择权，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度，提高了作业区域内无人车的协同作业效率。To summarize, the unmanned vehicle provided in the embodiment of the present application receives cyclic scheduling tasks at one time, so that when the unmanned vehicle performs the work tasks in a cycle, it does not rely on the scheduling of the scheduling platform. It selects the excavator and/or the spoil dump in real time to perform the work tasks based on the priority information and the communication data obtained by the local communication capabilities between vehicles (such as V2V or V2I, etc.). While realizing the constraints of the scheduling platform on the excavator and the spoil dump, it can also provide the unmanned vehicle with certain decision-making options, thereby realizing the continuous maintenance of optimized scheduling within a local area when the network conditions are poor or even the network is completely lost, thereby improving the collaborative work efficiency of the unmanned vehicles in the working area.

通过一次性接收循环调度任务列表，使得无人车可以在循环执行作业任务时自行调度至自身选择的挖机和/或排土场，相比于每次作业都需要接收调度平台发送的调度任务来说，可以极大地减少通信次数和通信数据量。By receiving the cyclic scheduling task list at one time, the unmanned vehicle can dispatch itself to the excavator and/or spoil dump of its own choice when performing the work task in a cycle. Compared with receiving the scheduling task sent by the scheduling platform for each operation, the number of communications and the amount of communication data can be greatly reduced.

请参考图3，其示出了本申请一个实施例提供的无人车的调度方法的方法流程图，该无人车的调度方法可以应用于无人车的调度平台中。该无人车的调度方法，可以包括：Please refer to Figure 3, which shows a method flow chart of an unmanned vehicle scheduling method provided by an embodiment of the present application. The unmanned vehicle scheduling method can be applied to an unmanned vehicle scheduling platform. The unmanned vehicle scheduling method may include:

步骤301，确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车，作业任务包括在挖机处停靠以装载物料和在排土场处停靠以卸载物料，其中，n和m中的至少一个大于或等于2，且作业区域内的无人车之间以及无人车与挖机之间能够进行通信。Step 301, determine n excavators, m spoil dumps and at least two unmanned vehicles that need to cyclically perform work tasks in a work area, the work tasks including stopping at the excavator to load materials and stopping at the spoil dump to unload materials, wherein at least one of n and m is greater than or equal to 2, and the unmanned vehicles in the work area can communicate with each other and between the unmanned vehicles and the excavators.

本实施例中，调度平台可以从存储器中读取一个作业区域内的无人车信息、挖机信息和排土场信息，从而根据无人车信息、挖机信息和排土场信息确定作业区域内存在n辆挖机、m个排土场和至少两辆无人车。In this embodiment, the scheduling platform can read the unmanned vehicle information, excavator information and spoil dump information in an operating area from the memory, and thereby determine that there are n excavators, m spoil dumps and at least two unmanned vehicles in the operating area based on the unmanned vehicle information, excavator information and spoil dump information.

步骤302，针对每辆无人车设置n辆挖机和/或m个排土场的优先级信息，得到包含优先级信息的循环调度任务列表，优先级信息表示无人车选择挖机或排土场的优先级。Step 302, setting priority information of n excavators and/or m spoil dumps for each unmanned vehicle, and obtaining a cyclic scheduling task list containing priority information, wherein the priority information indicates the priority of the unmanned vehicle in selecting an excavator or a spoil dump.

调度平台需要基于无人车的数量、n和m来设置优先级信息，以保证负载均衡。The dispatching platform needs to set priority information based on the number of unmanned vehicles, n and m to ensure load balancing.

具体的，调度平台获取每个作业区域内所有的挖机的待装时间，待装时间是一个挖机为已分配至自身的所有无人车装载物料所需的时间；基于每个作业区域对应的待装时间为每辆无人车分配一个作业区域，以使每个作业区域内所有的挖机的待装时间均衡；针对每个作业区域内的每辆无人车设置挖机的优先级信息，以使每个作业区域内的每个挖机的待装时间均衡。Specifically, the scheduling platform obtains the waiting time of all excavators in each working area. The waiting time is the time required for an excavator to load materials for all unmanned vehicles assigned to it; an working area is assigned to each unmanned vehicle based on the waiting time corresponding to each working area, so that the waiting time of all excavators in each working area is balanced; the priority information of the excavator is set for each unmanned vehicle in each working area, so that the waiting time of each excavator in each working area is balanced.

在设置优先级信息时，调度平台为n辆挖机设置至少两种优先级；为m个排土场设置至少两种优先级。通过为n辆挖机设置至少两种优先级，使得无人车能够基于挖机的优先级的高低自主选择挖机来执行作业任务，为无人车选择挖机提供了参考依据。同理，通过为m个排土场设置至少两种优先级，使得无人车能够基于排土场的优先级的高低自主选择排土场来执行作业任务，为无人车选择排土场提供了参考依据。When setting priority information, the scheduling platform sets at least two priorities for n excavators and at least two priorities for m spoil dumps. By setting at least two priorities for n excavators, unmanned vehicles can autonomously select excavators to perform work tasks based on the priorities of the excavators, providing a reference for unmanned vehicles to select excavators. Similarly, by setting at least two priorities for m spoil dumps, unmanned vehicles can autonomously select spoil dumps to perform work tasks based on the priorities of the spoil dumps, providing a reference for unmanned vehicles to select spoil dumps.

在设置优先级信息时，调度平台在为n辆挖机设置至少两种优先级时，使不同优先级对应的无人车的数量均衡；在为m个排土场设置至少两种优先级时，使不同优先级对应的无人车的数量均衡，从而通过优先级来实现负载均衡。When setting priority information, the scheduling platform balances the number of unmanned vehicles corresponding to different priorities when setting at least two priorities for n excavators; and balances the number of unmanned vehicles corresponding to different priorities when setting at least two priorities for m spoil dumps, thereby achieving load balancing through priority.

在设置优先级信息时，调度平台为n辆挖机设置至少两种优先级，且不同优先级对应的无人车的数量均衡；为m个排土场设置至少两种优先级，且不同优先级对应的无人车的数量均衡。When setting priority information, the dispatching platform sets at least two priorities for n excavators, and the number of unmanned vehicles corresponding to different priorities is balanced; at least two priorities are set for m spoil dumps, and the number of unmanned vehicles corresponding to different priorities is balanced.

步骤303，向无人车发送循环调度任务列表，以使无人车在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量。Step 303, sending a cyclic scheduling task list to the unmanned vehicle so that when the unmanned vehicle cyclically performs the work task, it does not rely on the scheduling of the scheduling platform. It selects the excavator and/or spoil dump in real time to perform the work task based on the priority information and the communication data obtained by the workshop communication. The communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment.

在一个可选的实施例中，调度平台在接收到触发信息时，向无人车发送循环调度任务列表。In an optional embodiment, the scheduling platform sends a cyclic scheduling task list to the unmanned vehicle when receiving the trigger information.

在一种实现方式中，触发信息是触发指令。其中，触发指令可以是人工触发的，也可以其他调度平台发送的，本实施例中不限定触发指令的来源。在另一种实现方式中，触发信息是无人车上报的预设状态信息、完成指定任务信息或所处特定位置信息。In one implementation, the trigger information is a trigger instruction. The trigger instruction may be manually triggered or sent by other scheduling platforms. The source of the trigger instruction is not limited in this embodiment. In another implementation, the trigger information is preset status information, completion of a specified task, or specific location information reported by the unmanned vehicle.

在执行循环作业任务列表中的作业任务时，无人车需要在挖机和排土场之间循环作业，那么，无人车可以不依靠调度平台的调度，而是基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场执行作业任务，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度。When executing the work tasks in the cyclic work task list, the unmanned vehicle needs to cycle between the excavator and the spoil dump. In this case, the unmanned vehicle does not rely on the scheduling of the scheduling platform, but instead selects the excavator and/or spoil dump in real time to perform the work tasks based on the priority information and the local communication capabilities between vehicles (such as V2V or V2I, etc.). The communication data obtained achieves continuous optimization scheduling within the local range when the network conditions are poor or even the network is completely lost.

可选的，调度平台还可以确定一个作业区域内的一辆挖机、一个排土场和没有局部决策能力的一辆无人车，生成循环调度任务列表；向无人车发送循环调度任务列表，以使无人车在挖机和排土场之间循环作业。通过循环调度任务列表来限定一个作业区域内只包含一辆挖机、一个排土场和一辆无人车，使得该无人车无需选择挖机和排土场，只能在一个挖机和一个排土场之间循环作业。Optionally, the scheduling platform can also determine an excavator, a dumping ground, and an unmanned vehicle without local decision-making capabilities in an operating area, generate a cyclic scheduling task list, and send the cyclic scheduling task list to the unmanned vehicle so that the unmanned vehicle can cycle between the excavator and the dumping ground. The cyclic scheduling task list is used to limit an operating area to only contain one excavator, one dumping ground, and one unmanned vehicle, so that the unmanned vehicle does not need to select an excavator and a dumping ground, and can only cycle between an excavator and a dumping ground.

综上所述，本申请实施例提供的无人车的调度方法，通过确定一个作业区域内的n辆挖机、m个排土场和需要循环执行作业任务的至少两辆无人车；然后，针对每辆无人车设置n辆挖机和/或m个排土场的优先级信息，得到包含优先级信息的循环调度任务列表；最后，向无人车发送循环调度任务列表。这样，通过一次性下发循环调度任务，使得无人车能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场来执行作业任务，在实现调度平台对挖机和排土场进行约束的同时，还能够为无人车提供一定的决策选择权，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度，提高了作业区域内无人车的协同作业效率。In summary, the unmanned vehicle scheduling method provided in the embodiment of the present application determines n excavators, m dumping grounds and at least two unmanned vehicles that need to perform work tasks cyclically in an operation area; then, the priority information of the n excavators and/or m dumping grounds is set for each unmanned vehicle to obtain a cyclic scheduling task list containing the priority information; finally, the cyclic scheduling task list is sent to the unmanned vehicle. In this way, by issuing the cyclic scheduling task once, the unmanned vehicle can select the excavator and/or dumping ground in real time to perform the work task based on the priority information and the communication data obtained by the local communication capability between vehicles (such as V2V or V2I, etc.) when performing the work task cyclically, without relying on the scheduling of the scheduling platform. While realizing the scheduling platform to constrain the excavator and the dumping ground, it can also provide the unmanned vehicle with a certain decision-making option, so as to realize the optimization scheduling in the local range under the condition of poor network or even complete loss of network, and improve the collaborative work efficiency of the unmanned vehicles in the operation area.

请参考图4，其示出了本申请一个实施例提供的无人车的调度方法的方法流程图，该无人车的调度方法可以应用于无人车中。该无人车的调度方法，可以包括：Please refer to Figure 4, which shows a method flow chart of a dispatching method for an unmanned vehicle provided in an embodiment of the present application. The dispatching method for an unmanned vehicle can be applied to an unmanned vehicle. The dispatching method for an unmanned vehicle can include:

步骤401，接收无人车的调度平台发送的循环调度任务列表，循环调度任务列表包括针对至少两辆无人车设置的n辆挖机和/或m个排土场的优先级信息，至少两辆无人车、n辆挖机和m个排土场位于一个作业区域内，无人车需要循环执行在挖机处停靠以装载物料和在排土场处停靠以卸载物料的作业任务，且作业区域内的无人车之间以及无人车与挖机之间能够进行通信，其中，n和m中的至少一个大于或等于2，且优先级信息表示无人车选择挖机或排土场的优先级。Step 401, receiving a cyclic scheduling task list sent by the scheduling platform of the unmanned vehicle, the cyclic scheduling task list including priority information of n excavators and/or m spoil dumps set for at least two unmanned vehicles, at least two unmanned vehicles, n excavators and m spoil dumps are located in an operating area, the unmanned vehicles need to cyclically perform the operating tasks of stopping at the excavator to load materials and stopping at the spoil dump to unload materials, and the unmanned vehicles in the operating area and between the unmanned vehicles and the excavators can communicate, wherein at least one of n and m is greater than or equal to 2, and the priority information indicates the priority of the unmanned vehicle in selecting the excavator or the spoil dump.

在一种实现方式中，触发信息是触发指令。其中，触发指令可以是人工触发的，也可以其他调度平台发送的，本实施例中不限定触发指令的来源。在另一种实现方式中，触发信息是无人车上报的预设状态信息、完成指定任务信息或所处特定位置信息，对应的，无人车需要向调度平台上报预设状态信息、完成指定任务信息或所处特定位置信息，以使调度平台在接收到预设状态信息、完成指定任务信息或所处特定位置信息时，向无人车发送循环调度任务列表。In one implementation, the trigger information is a trigger instruction. The trigger instruction may be manually triggered or sent by other scheduling platforms. The source of the trigger instruction is not limited in this embodiment. In another implementation, the trigger information is the preset status information, the completion of the specified task information, or the specific location information reported by the unmanned vehicle. Correspondingly, the unmanned vehicle needs to report the preset status information, the completion of the specified task information, or the specific location information to the scheduling platform, so that the scheduling platform sends a cyclic scheduling task list to the unmanned vehicle when receiving the preset status information, the completion of the specified task information, or the specific location information.

步骤402，在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车间通信获取到的通信数据实时选择挖机和/或排土场来执行作业任务，通信数据表示每辆挖机或每个排土场在当前时刻所分配的无人车的数量。Step 402, when executing the work task in a loop, without relying on the scheduling of the scheduling platform, the excavator and/or spoil dump are selected in real time to perform the work task based on the priority information and the communication data obtained by the workshop communication. The communication data indicates the number of unmanned vehicles allocated to each excavator or each spoil dump at the current moment.

在选择挖机时，无人车从作业区域中选择至少一个待选的挖机，与至少一个待选的挖机或其他无人车进行车间通信以获取通信数据，根据通信数据从至少一个待选的挖机中选择一个挖机来执行作业任务。When selecting an excavator, the unmanned vehicle selects at least one excavator to be selected from the working area, performs workshop communication with at least one excavator to be selected or other unmanned vehicles to obtain communication data, and selects an excavator from at least one excavator to be selected based on the communication data to perform the working task.

具体的，通信数据包括正在装载物料的无人车的第一数量、待装物料的无人车的第二数量和排队的无人车的第三数量；任务执行模块，能够获取每个待选的挖机对应的第一数量、第二数量和第三数量，将第一数量、第二数量和第三数量之和最小的挖机确定为最终选择的挖机。Specifically, the communication data includes the first number of unmanned vehicles that are loading materials, the second number of unmanned vehicles to be loaded with materials, and the third number of unmanned vehicles in line; the task execution module can obtain the first number, second number, and third number corresponding to each excavator to be selected, and determine the excavator with the smallest sum of the first number, second number, and third number as the excavator finally selected.

由于第一数量、第二数量和第三数量之和最小，说明挖机中排队的无人车最少，所以，可以选择该挖机执行作业任务，从而减少排队时间，提高了作业效率。Since the sum of the first number, the second number and the third number is the smallest, it means that there are the fewest unmanned vehicles queued in the excavator. Therefore, this excavator can be selected to perform the task, thereby reducing the queuing time and improving the work efficiency.

在选择排土场时，无人车从作业区域中选择至少一个待选的排土场，与其他无人车进行车间通信以获取通信数据，根据通信数据从至少一个待选的排土场中选择一个排土场来执行作业任务。When selecting a spoil dump, the unmanned vehicle selects at least one spoil dump to be selected from the working area, communicates with other unmanned vehicles in the workshop to obtain communication data, and selects a spoil dump from at least one spoil dump to be selected according to the communication data to perform the working task.

综上所述，本申请实施例提供的无人车的调度方法，通过一次性接收循环调度任务，使得无人车能够在循环执行作业任务时，不依靠调度平台的调度，基于优先级信息和车辆间的局部通信能力(如V2V或者V2I等)获取到的通信数据实时选择挖机和/或排土场来执行作业任务，在实现调度平台对挖机和排土场进行约束的同时，还能够为无人车提供一定的决策选择权，实现了在网络情况较差甚至完全失去网络的情况下持续保持局部范围内优化调度，提高了作业区域内无人车的协同作业效率。To summarize, the unmanned vehicle scheduling method provided in the embodiment of the present application, by receiving cyclic scheduling tasks at one time, enables the unmanned vehicle to select an excavator and/or a spoil dump in real time to perform the work task based on the priority information and the communication data obtained through the local communication capabilities between vehicles (such as V2V or V2I, etc.) without relying on the scheduling of the scheduling platform when performing the work task in a cycle. While realizing the constraints of the scheduling platform on the excavator and the spoil dump, it can also provide the unmanned vehicle with certain decision-making options, thereby realizing the continuous maintenance of optimized scheduling within a local area when the network conditions are poor or even the network is completely lost, thereby improving the collaborative work efficiency of unmanned vehicles in the work area.

本申请一个实施例提供了一种计算机可读存储介质，所述存储介质中存储有至少一条指令，所述至少一条指令由处理器加载并执行以实现如上所述的无人车的调度方法。An embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the unmanned vehicle scheduling method as described above.

本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

以上所述并不用以限制本申请实施例，凡在本申请实施例的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请实施例的保护范围之内。The above description is not intended to limit the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.