CN115705047A

CN115705047A - Method, device and system for dispatching transport vehicle and computer readable storage medium

Info

Publication number: CN115705047A
Application number: CN202110892793.2A
Authority: CN
Inventors: 林冬烁
Original assignee: SF Technology Co Ltd
Current assignee: SF Technology Co Ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2023-02-17

Abstract

The application provides a method, a device and a system for dispatching a transport vehicle and a computer readable storage medium, wherein the system comprises a dispatching module which is respectively in communication connection with the transport vehicle and a visual monitoring module; the visual monitoring module is arranged in a field to be monitored and used for acquiring work scene image information of the field to be monitored, performing area division on images in the work scene image information to obtain area division information of the field to be monitored, identifying identification information of a carrying vehicle in the work scene image information to acquire position information of the carrying vehicle, and sending the area division information and the position information to the scheduling module; the scheduling module is used for receiving the area division information and the position information, generating path planning information and operation planning information for the carrying vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the carrying vehicle. The utility model provides a haulage vehicle dispatch system has improved haulage vehicle's dispatch efficiency.

Description

Method, device and system for dispatching transport vehicle and computer readable storage medium

Technical Field

The present application relates to the field of transportation vehicle scheduling technologies, and in particular, to a transportation vehicle scheduling method, apparatus, system, and computer-readable storage medium.

Background

The carrying vehicle is various wheeled carrying vehicles for loading, unloading, stacking, short-distance transportation and heavy object carrying operation of finished pallet goods. The tray can be widely applied to ports, stations, airports, goods yards, factory workshops, warehouses, circulation centers, distribution centers and the like, can enter cabins, carriages and containers to carry out loading, unloading and carrying operations of tray goods, and is necessary equipment in tray transportation and container transportation.

When current goods transports, generally adopt artifical mode to carry the goods, and at large-scale transfer station, adopt artifical transport mode not high-efficient, the route of every fork truck operation is not unified, and the operation workman can select the shortcut to carry moreover, holistic speed can receive the influence like this to independent cost of labor also can increase, when making efficiency descend, the cost increase.

Therefore, how to improve the dispatching efficiency of the transportation vehicles is a technical problem which needs to be solved in the current transportation technical field.

Disclosure of Invention

The application provides a method, a device and a system for dispatching a transport vehicle and a computer readable storage medium, aiming at improving the dispatching efficiency of the transport vehicle.

On one hand, the application provides a transport vehicle dispatching system which comprises a transport vehicle, a visual monitoring module and a dispatching module, wherein the dispatching module is respectively in communication connection with the transport vehicle and the visual monitoring module;

the visual monitoring module is arranged in a field to be monitored and used for acquiring work scene image information of the field to be monitored, performing area division on images in the work scene image information to obtain area division information of the field to be monitored, identifying identification information of a carrying vehicle in the work scene image information to acquire position information of the carrying vehicle, and sending the area division information and the position information to the scheduling module;

the scheduling module is used for receiving the area division information and the position information, generating path planning information and operation planning information for the carrying vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the carrying vehicle.

In one possible implementation manner of the present application, the transportation vehicle includes a work module, a main control module and a communication module, and the main control module is electrically connected to the work module and the communication module, respectively;

the communication module is in communication connection with the scheduling module, and is used for receiving the path planning information and the operation planning information sent by the scheduling module and transmitting the path planning information and the operation planning information to the main control module;

the main control module is used for reading the path planning information and the operation planning information to generate corresponding motion control signals and operation control signals and transmitting the motion control signals and the operation control signals to the working module;

and the working module is used for carrying out motion control and operation control according to the motion control signal and the operation control signal after receiving the motion control signal and the operation control signal.

In one possible implementation manner of the present application, the working module includes a motion module and an operation module, the motion module is configured to receive the motion control signal, control the operation speed and the operation direction of the motion module according to the motion control signal, and the operation module is configured to receive the operation control signal and control the operation state of the operation module based on the operation control signal.

In a possible implementation manner of the present application, the transportation vehicle further includes a detection module, the detection module is disposed on the transportation vehicle, and is configured to detect the position information of the working object, and the position information of the working object is sent to the scheduling module by the communication module, so that the scheduling module receives the position information of the working object, and then adjusts the operation planning information according to the position information of the working object and the position information.

In a possible implementation manner of the present application, the transportation vehicle further includes a positioning module, the positioning module is disposed on the transportation vehicle, and is configured to acquire positioning information of the transportation vehicle, and the positioning information is sent to the scheduling module by the communication module, so that the scheduling module receives the positioning information and then checks the position information.

In a possible implementation manner of the present application, the visual monitoring module is further configured to perform semantic segmentation recognition processing on an image in the working scene image information, generate object identification information, predict a path of the object based on the object identification information, generate object prediction path information, and send the object prediction path information to the dispatching system, so that the dispatching system receives the object prediction path information, and then judges whether the transport vehicle collides with the object according to the object prediction path information and the position information, if so, generate emergency obstacle avoidance information, and send the emergency obstacle avoidance information to the transport vehicle.

In one possible implementation manner of the present application, the transportation vehicle scheduling system further includes a scheduling display module, the scheduling display module is electrically connected to the scheduling module, and the scheduling display module is configured to generate a task execution network diagram of the transportation vehicle according to the path planning information and the operation planning information of the transportation vehicle, so as to show the task execution progress of the transportation vehicle.

In one possible implementation manner of the present application, the haulage vehicle dispatching system further includes a background monitoring display module, the background monitoring display module is electrically connected to the vision monitoring module, and the background monitoring display module is used for acquiring the working scene image information to display the working scene image information.

In a possible implementation manner of the present application, the visual monitoring module is further configured to sequentially perform segmentation processing and transparentization processing on the images in the image information of the working scene to obtain a plurality of segmented images in a semi-transparent state, and send the segmented images in the semi-transparent state to the background monitoring display module.

In this application a possible implementation, regional division information includes that the goods is fixed deposits district, transport vehicle route district and transport vehicle warning area, dispatch module is used for with transport vehicle's route planning region sets up transport vehicle route district and the fixed district of depositing of goods to and get into as the pedestrian when the transport vehicle warning area, dispatch module will generate warning signal and emergency braking signal, and will warning signal with emergency braking signal sends to transport vehicle, with emergency braking transport vehicle to broadcast warning information.

In another aspect, the present application provides a method for dispatching a haulage vehicle, the method comprising:

acquiring work scene image information of a field to be monitored;

performing area division on the image in the working scene image information to obtain area division information;

identifying the identification information of the carrying vehicle in the work scene image information to acquire the position information of the carrying vehicle

And generating path planning information and operation planning information for the carrying vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the carrying vehicle.

In another aspect, the present application further provides a computer device, including:

one or more processors;

a memory; and

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the method of haulage vehicle dispatch.

In another aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, where the computer program is loaded by a processor to execute the steps of the method for dispatching a haulage vehicle.

The application provides a transport vehicle dispatching system, which comprises a transport vehicle, a visual monitoring module and a dispatching module, wherein the dispatching module is respectively in communication connection with the transport vehicle and the visual monitoring module; the visual monitoring module is arranged in a field to be monitored and used for acquiring work scene image information of the field to be monitored, performing area division on images in the work scene image information to obtain area division information of the field to be monitored, identifying identification information of a carrying vehicle in the work scene image information to acquire position information of the carrying vehicle, and sending the area division information and the position information to the scheduling module; the scheduling module is used for receiving the area division information and the position information, generating path planning information and operation planning information for the carrying vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the carrying vehicle. Compared with the prior art, the visual monitoring module is arranged on the wall surface of the field to be monitored to acquire the work scene image information of the field to be monitored, the image in the work scene image information is subjected to area division to obtain the area division information of the field to be monitored, the identification information of the carrying vehicle in the work scene image information is identified to acquire the position information of the carrying vehicle, so that the scheduling module can generate the carrying vehicle in the field to be monitored to perform path planning and operation planning based on the area division information and the position information, and the scheduling efficiency of the carrying vehicle is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of one embodiment of a haulage vehicle dispatch system provided in accordance with an embodiment of the present application;

FIG. 2 is a schematic structural diagram of another embodiment of a haulage vehicle dispatch system according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an embodiment of dividing an image in the work scene image information into regions, provided in the embodiment of the present application;

FIG. 4 is a schematic flow chart diagram of one embodiment of a method for dispatching a haulage vehicle as provided in an embodiment of the present application;

FIG. 5 is a schematic flow chart diagram of another embodiment of a method for dispatching a haulage vehicle as provided in an embodiment of the present application;

FIG. 6 is a schematic flow chart diagram of yet another embodiment of a method for dispatching a haulage vehicle as provided in an embodiment of the present application;

FIG. 7 is a schematic flow chart diagram illustrating another embodiment of a method for dispatching a haulage vehicle as provided in an embodiment of the present application;

FIG. 8 is a schematic flow chart diagram of yet another embodiment of a method for dispatching a haulage vehicle as provided in an embodiment of the present application;

FIG. 9 is a schematic structural diagram of one embodiment of a haulage vehicle dispatching device provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of an embodiment of a computer device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The embodiment of the application provides a method, a device and a system for dispatching a transport vehicle and a computer readable storage medium, wherein the system for dispatching the transport vehicle comprises the transport vehicle, a visual monitoring module and a dispatching module, and the dispatching module is respectively in communication connection with the transport vehicle and the visual monitoring module; the visual monitoring module is arranged in a field to be monitored and used for acquiring work scene image information of the field to be monitored, performing area division on images in the work scene image information to obtain area division information of the field to be monitored, identifying identification information of a carrying vehicle in the work scene image information to acquire position information of the carrying vehicle, and sending the area division information and the position information to the scheduling module; the scheduling module is configured to receive the area division information and the position information, generate path planning information and operation planning information for the transport vehicle based on the area division information and the position information, and send the path planning information and the operation planning information to the transport vehicle, which will be described in detail below.

Referring to fig. 1 to 10, fig. 1 is a schematic structural diagram of an embodiment of a transportation vehicle dispatching system provided in the embodiment of the present application, where the transportation vehicle dispatching system 10 includes a transportation vehicle 101, a vision monitoring module 102, and a dispatching module 103, and the dispatching module 103 is respectively connected to the transportation vehicle 101 and the vision monitoring module 102 in a communication manner; the visual monitoring module 102 is arranged in a field to be monitored, and is used for acquiring work scene image information of the field to be monitored, performing area division on images in the work scene image information to obtain area division information of the field to be monitored, identifying identification information of the carrying vehicle 101 in the work scene image information to acquire position information of the carrying vehicle 101, and sending the area division information and the position information to the scheduling module 103; the scheduling module 103 is configured to receive the area division information and the position information, generate path planning information and job planning information for the transport vehicle 101 based on the area division information and the position information, and send the path planning information and the job planning information to the transport vehicle 101.

The site to be monitored may be an indoor or outdoor factory building or warehouse, but is not limited thereto.

The vision monitoring module 102 is disposed in a field to be monitored, and specifically, may be disposed on a wall surface or a ceiling of the field to be monitored. It should be noted that the wall surface is not limited to a solid wall, but may also be a temporarily constructed non-solid wall, for example, a non-solid wall that is constructed by a support rod and an iron net to divide an area, and in addition, the space of the site may be a cuboid, a cylinder, etc., which is not limited to this, but the visual monitoring module is not limited to contact with the wall surface, and may also be suspended above the site to be monitored by other means.

Further, the vision monitoring module 102 may include a plurality of cameras, the types of the cameras may include a panoramic camera, a wide view angle camera, and a conventional camera, which are not limited to this, and it is assumed that a panoramic view of a site to be monitored can be acquired, further, the cameras may be set at any intervals, angles, and heights, and it is assumed that a panoramic view of a site to be monitored is acquired, and it is not allowed to generate blind areas, and the number of the cameras is not limited, which is of course preferable to the number of the cameras and the number of the blind areas. The acquired work scene image information of the field to be monitored can be a panoramic image synthesized by images shot by the camera devices at a plurality of different installation positions and installation angles.

The transport vehicle 101 is mainly an unmanned transport vehicle, and specifically, the unmanned transport vehicle includes, but is not limited to, an unmanned forklift, an unmanned tractor, an unmanned trailer, and an unmanned transport vehicle, and a conventional unmanned vehicle having a transport function may be included.

The identification information of the transport vehicle 101 may be a mark provided on the exterior of the transport vehicle body, the mark may be a two-dimensional code or a number with a striking color, the identification information corresponding to the mark may include the number, the function type, and the like of the transport vehicle 101, and the identification information may be added and modified according to actual requirements.

The scheduling module 103 is configured to receive the area division information and the position information, and generate path planning information and operation planning information for the transport vehicle 101 based on the area division information and the position information; specifically, regional division information includes that the goods is fixed to be deposited the district, haulage vehicle 101 route district and haulage vehicle 101 warning area, dispatch module 103 is used for with haulage vehicle 101's route planning region sets up haulage vehicle 101 route district and the fixed district of depositing of goods to and when the pedestrian gets into when the haulage vehicle 101 warning area, dispatch module 103 will generate warning signal and emergency braking signal, and will warning signal with emergency braking signal sends to haulage vehicle 101, with emergency braking haulage vehicle 101 to broadcast warning information.

Further, after receiving the task of storing the cargo, the scheduling module 103 determines the target position information of the cargo, and generates path planning information and operation planning information based on the target position information of the cargo, the cargo fixed storage area, and the path area of the transport vehicle 101, where the path planning information may specifically be from the current position of the transport vehicle 101, along the path area of the transport vehicle 101 to an area corresponding to the target position information of the cargo, and then along the path area of the transport vehicle 101 to the cargo fixed storage area, where the operation planning information may specifically be to control the work module 104 of the transport vehicle 101 to transfer the cargo to the transport vehicle 101.

On the other hand, after the dispatching module 103 receives the work task of moving the cargo, it first determines the target position information of the cargo, and generates the path planning information and the operation planning information based on the target position information of the cargo, the fixed cargo storage area, and the path area of the transport vehicle 101, where the path planning information may specifically be from the current position of the transport vehicle 101, along the path area of the transport vehicle 101 to the fixed cargo storage area, and then along the path area of the transport vehicle 101 to the area corresponding to the target position information of the cargo, where the operation planning information may specifically be for controlling the work module 104 of the transport vehicle 101 to transfer the cargo to the transport vehicle 101.

The application provides a dispatching system 10 of a transport vehicle 101, which comprises the transport vehicle 101, a vision monitoring module 102 and a dispatching module 103, wherein the dispatching module 103 is respectively in communication connection with the transport vehicle 101 and the vision monitoring module 102; the visual monitoring module 102 is arranged in a field to be monitored, and is used for acquiring work scene image information of the field to be monitored, performing area division on images in the work scene image information to obtain area division information of the field to be monitored, identifying identification information of the carrying vehicle 101 in the work scene image information to acquire position information of the carrying vehicle 101, and sending the area division information and the position information to the scheduling module 103; the scheduling module 103 is configured to receive the area division information and the position information, generate path planning information and job planning information for the transport vehicle 101 based on the area division information and the position information, and send the path planning information and the job planning information to the transport vehicle 101. Compared with the prior art, the visual monitoring module 102 is arranged on the wall surface of the field to be monitored to acquire the work scene image information of the field to be monitored, the image in the work scene image information is subjected to area division to acquire the area division information of the field to be monitored, the identification information of the carrying vehicle 101 in the work scene image information is identified to acquire the position information of the carrying vehicle 101, so that the scheduling module 103 can generate the carrying vehicle 101 in the field to be monitored to perform path planning and operation planning based on the area division information and the position information, and the scheduling efficiency of the carrying vehicle 101 is improved.

Referring to fig. 1 to 4, in the embodiment of the present application, the transportation vehicle 101 includes a work module 104, a main control module 105 and a communication module 106, wherein the main control module 105 is electrically connected to the work module 104 and the communication module 106, respectively; the communication module 106 is in communication connection with the scheduling module 103, and the communication module 106 is configured to receive the path planning information and the job planning information sent by the scheduling module 103, and transmit the path planning information and the job planning information to the main control module 105; the main control module 105 is configured to read the path planning information and the job planning information to generate a corresponding motion control signal and a job control signal, and transmit the motion control signal and the job control signal to the work module 104; the work module 104 is configured to perform motion control and job control according to the motion control signal and the job control signal after receiving the motion control signal and the job control signal.

In this embodiment, the work module 104 includes a motion module 107 and a job module 108, the motion module 107 is configured to control the running speed and the running direction of the motion module 107 according to the motion control signal when receiving the motion control signal, and the job module 108 is configured to receive the job control signal and control the job status of the job module 108 based on the job control signal.

The motion module may be a module that controls the traveling direction and the traveling speed of the carrier vehicle, such as a steering structure, an acceleration structure, and a deceleration structure. The operation module has certain difference according to the function type of the handling vehicle, for example, when the handling vehicle is a forklift, the operation module is a fork arm, the fork arm can move up and down, when the handling vehicle is a carrying vehicle, only a motion module or a working module is a hydraulic lifting structure, and the hydraulic lifting structure can be used for lifting a goods shelf, so that goods on the goods shelf can slide down freely. Therefore, the motion module and the operation module are not limited, and can be adjusted and configured according to requirements.

In the embodiment of the present application, the transportation vehicle 101 further includes a detection module 109, the detection module 109 is disposed on the transportation vehicle 101, and is configured to detect the position information of the working object, and send the position information of the working object to the scheduling module 103 through the communication module 106, so that the scheduling module 103 receives the position information of the working object, and then adjusts the operation planning information according to the position information of the working object and the position information.

Wherein, the work object can be tray, goods shelves etc. need to explain, the general condition, in the warehouse, the goods all can be placed on the tray, even deposit in on goods shelves, also can be earlier with the goods place on the tray, place goods and tray on goods shelves together again, however, this application does not exclude the direct condition of putting the goods on ground and goods shelves, in addition, the shape and the size of tray also can be decided according to the attribute of goods, consequently, this application does not do not specifically limit to attributes such as the material of tray, shape, size, specifically depending on actual demand. Specifically, the detection module is used for detecting the position information of the working object, wherein the position information can be the relative position relationship between the working module of the carrying vehicle and the working object, and although the visual monitoring module can shoot the image information of the carrying vehicle and the goods and determine the position relationship between the working module and the working object according to the image information, the detection module can further improve the working efficiency and the working precision of the carrying vehicle.

In this embodiment, the transportation vehicle 101 further includes a positioning module 110, the positioning module 110 is disposed on the transportation vehicle 101, and is configured to obtain the positioning information of the transportation vehicle 101, and send the positioning information to the scheduling module 103 through the communication module 106, so that the scheduling module 103 checks the position information after receiving the positioning information.

The positioning module can be a positioning sensor, and the embodiment of the application does not limit the positioning module and can be used according to actual requirements. For example, the positioning sensors may include absolute positioning sensors (ranging, inertial, etc.) and relative positioning sensors (global positioning system, magnetic compass, etc.).

In this embodiment of the application, the vision monitoring module 102 is further configured to perform semantic segmentation recognition processing on an image in the image information of the working scene, generate object recognition information, predict a path of the object based on the object recognition information, generate object predicted path information, and send the object predicted path information to the dispatching system, so that the dispatching system receives the object predicted path information, and then, according to the object predicted path information and the position information, determine whether the transport vehicle 101 collides with the object, if so, generate emergency obstacle avoidance information, and send the emergency obstacle avoidance information to the transport vehicle 101.

In this embodiment, the dispatching system 10 of the transport vehicle 101 further includes a dispatching display module 111, the dispatching display module 111 is electrically connected to the dispatching module 103, and the dispatching display module 111 is configured to generate a task execution network diagram of the transport vehicle 101 according to the path planning information and the job planning information of the transport vehicle 101, so as to show the task execution progress of the transport vehicle 101.

In the embodiment of the present application, the dispatching system 10 of the transport vehicle 101 further includes a background monitoring display module 112, the background monitoring display module 112 is electrically connected to the visual monitoring module 102, and the background monitoring display module 112 is configured to obtain the working scene image information to display the working scene image information.

The background monitoring display module 112 may include a plurality of displays, and the displays may display the image frames captured by each camera in the visual monitoring module 102.

In this embodiment of the application, the visual monitoring module 102 is further configured to sequentially perform segmentation processing and transparentization processing on the images in the image information of the working scene to obtain a plurality of segmented images in a semi-transparent state, and send the plurality of segmented images in the semi-transparent state to the background monitoring display module 112.

In the embodiment of the application, regional division information includes that the goods is fixed to be deposited the district, haulage vehicle 101 route district and haulage vehicle 101 warning area, dispatch module 103 is used for with haulage vehicle 101's route planning region sets up haulage vehicle 101 route district and the fixed district of depositing of goods to and when the pedestrian gets into when the haulage vehicle 101 warning area, dispatch module 103 will generate warning signal and emergency braking signal, and will warning signal with emergency braking signal sends to haulage vehicle 101, with emergency braking haulage vehicle 101 to broadcast warning information. The transport vehicle 101 warning area may further include a transport vehicle 101 route warning area and a transport vehicle 101 warning area, and the transport vehicle 101 warning area includes a transport vehicle 101 to pedestrian safety area, a transport vehicle 101 to cargo safety area, and a pedestrian safety area.

The visual monitoring module 102 may perform area division on images in the image information of the work scene according to a functional area distribution condition of a to-be-monitored field, specifically, the functional area distribution condition of the to-be-monitored field generally includes a cargo fixing storage area for storing cargos, a transportation vehicle 101 path area for the transportation vehicle 101 to run through, and a corresponding transportation vehicle 101 warning area for staffs to stop, a plant support column, and the like, if a pedestrian or other moving obstacle approaches the transportation vehicle 101 path warning area, the scheduling module 103 issues a warning to the transportation vehicle 101 approaching this range, the scheduling system performs path prediction on the pedestrian and the transportation vehicle 101, if the pedestrian or other moving obstacle approaches the transportation vehicle 101 path warning area, the transportation vehicle 101 is decelerated or stopped in a dangerous range, and the corresponding transportation vehicle 101 resumes passing until the pedestrian or other moving obstacle leaves the dangerous area.

Correspondingly, although the corresponding areas can be seen through the scheduling display module 111 and the background monitoring display module 112, in order to ensure the safety of field workers, the actual areas of the field can be processed, specifically, the field can be arranged and planned, and the cargo transportation route, the cargo storage area and the pedestrian passing area of the field are planned. Each area of the field is marked, the warning effect is achieved, and zebra stripes and the like are arranged in the position area where pedestrians cross the goods transportation route. The transportation vehicle 101 may be provided with a reciprocating passage mode or a loop passage mode, and if necessary, a transportation vehicle 101 avoidance area. According to the size and height of the field, visual monitoring equipment is arranged at the relative position of the passing area of the carrying vehicle 101 of the field according to the required spacing density. And establishing a set of good site passing safety standard mode, for example, training workers entering the site, controlling the workers to pass in and out, and standardizing the walking area of pedestrians.

Further, the visual monitor module 102 may further process the image as follows: for the pedestrian passing or entering the warning area of the transport vehicle 101, the monitoring picture of the corresponding area can be enlarged. The area range is manually divided, the visual monitoring module 102 divides each shot picture, each divided area is endowed with a corresponding semitransparent background color, and whether the semitransparent background color of each area is displayed in a bright mode or not can be selected at the background monitoring module end. The pedestrian or the moving object entering the alert range of the transportation vehicle 101 is captured, a circle with a safe distance as a radius is generated with the captured pedestrian or the moving object as a center, and a path trajectory route on which the pedestrian or the moving object is likely to travel is predicted. Each of the transport vehicles 101 present in the monitoring system is identified and located, and it is determined that the moving object is a transport vehicle 101 based on the identifier on the top of the transport vehicle 101 or the location sent back by the transport vehicle 101 communication module 106. Two safe distance square areas are generated simultaneously. The big square is a safety area generated for pedestrians, and the small square is a safety area generated for peripheral static goods.

Further, the dispatch display module 111 may display a task execution network map of all the handling vehicles 101, see the task execution status and the route completion percentage of each handling vehicle 101, and send a corresponding warning prompt for the occurrence of a blockage or a failure.

And a task execution process: the scheduling module 103 obtains the position points to be transported and the transport target position points according to the demand signal issued by the task end, waits for the position points of the transport vehicles 101, determines the priority of each transport vehicle 101, sends a set rough global route to the transport vehicle 101 to be ordered, and calculates the time that the transport vehicle 101 may spend in operation. After receiving the global route sent back by the scheduling module 103, the corresponding transport vehicles 101 on standby perform route smoothing on the global route by the scheduling module 103, and regenerate a global route more specifically suitable for vehicle body traveling. When finding that a pedestrian passes through, the vision monitoring module 102 sends the dangerous range and position of the pedestrian and the position of the transportation vehicle 101 in the relevant range to the dispatching module 103, and the dispatching module 103 sends a deceleration or parking instruction to the main control module 105 of the transportation vehicle 101 through the communication module 106 to control the transportation vehicle 101. Upon receiving the deceleration or stop of the vision monitoring module 102, the transfer vehicle 101 generates a local path for stopping to stop, and generates a local path to return to the global path upon receiving a restart. After the transport vehicle 101 arrives at the designated waiting position, the operation module 108 in front of the transport vehicle 101 is used for acquiring the condition of the lower pallet of the goods, and the operation module 108 is accurately forked to lift the pallet and then is transported to the designated destination.

According to the embodiment of the application, the images in the image information of the working scene are divided into the regions, so that the carrying vehicle 101 can be effectively planned, pedestrians are prevented from being collided by the carrying vehicle 101, the working efficiency is improved, and meanwhile, the safety is improved.

In order to better implement the transportation vehicle dispatching system in the embodiment of the application, a transportation vehicle dispatching method is further provided in the embodiment of the application on the basis of the transportation vehicle dispatching system.

In the embodiment of the method for dispatching the haulage vehicle of the embodiment, the haulage vehicle dispatching device is taken as an execution subject, which will be omitted in the following embodiment of the method for dispatching the haulage vehicle, for the sake of simplicity and convenience of description, and the method comprises the following steps: acquiring work scene image information of a field to be monitored; performing region division on an image in the image information of the working scene to obtain region division information; identifying identification information of a carrying vehicle in the working scene image information to acquire position information of the carrying vehicle; and generating path planning information and operation planning information for the transport vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the transport vehicle.

As shown in fig. 4, fig. 4 is a schematic flow chart of an embodiment of a method for dispatching a haulage vehicle provided in the embodiment of the present application, wherein the method includes steps 401 to 404:

401. and acquiring the image information of the working scene of the field to be monitored.

402. And carrying out region division on the image in the image information of the working scene to obtain region division information.

403. And identifying the identification information of the carrying vehicle in the work scene image information to acquire the position information of the carrying vehicle.

404. And generating path planning information and operation planning information for the transport vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the transport vehicle.

Compared with the prior art, the method for scheduling the transport vehicles comprises the steps that the visual monitoring module is arranged on the wall surface of the field to be monitored to obtain work scene image information of the field to be monitored, the images in the work scene image information are subjected to area division to obtain area division information of the field to be monitored, identification information of the transport vehicles in the work scene image information is identified to obtain position information of the transport vehicles, so that the scheduling module can generate the transport vehicles in the field to be monitored to perform path planning and operation planning based on the area division information and the position information, and the path planning information and the operation planning information are sent to the transport vehicles, and therefore scheduling efficiency of the transport vehicles is improved.

The specific structure of the transport vehicle refers to the above-mentioned embodiments, and since the transport vehicle scheduling method adopts all technical solutions of all the above-mentioned embodiments, the transport vehicle scheduling method at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and details are not repeated herein.

In the embodiment of the present application, as shown in fig. 5, the method further includes:

501. positioning information of the transporting vehicle is acquired.

502. And checking the position information of the carrying vehicle according to the positioning information.

In the embodiment of the present application, as shown in fig. 6, the method further includes:

601. and performing semantic segmentation recognition processing on the image in the image information of the working scene to generate object recognition information.

602. Based on the object identification information, the path of the object is predicted, and object predicted path information is generated.

603. Based on the object predicted path information and the position information of the transport vehicle, it is determined whether the transport vehicle will collide with the object.

604. And if so, generating emergency obstacle avoidance information and sending the emergency obstacle avoidance information to the carrying vehicle.

In the embodiment of the present application, as shown in fig. 7, the method further includes:

701. and sequentially performing segmentation processing and transparentization processing on the images in the working scene image information to obtain a plurality of segmented images in a semitransparent state.

In the embodiment of the present application, as shown in fig. 8, the method further includes:

801. and arranging the path planning area of the transport vehicle in the transport vehicle path area and the goods fixing and storing area.

802. When the pedestrian enters the transport vehicle warning area, a warning signal and an emergency braking signal are generated.

803. Sending the warning signal and the emergency braking signal to the transport vehicle to brake the transport vehicle emergently and playing warning information

In order to better implement the transportation vehicle dispatching method in the embodiment of the present application, based on the transportation vehicle dispatching method, a transportation vehicle dispatching device is further provided in the embodiment of the present application, as shown in fig. 9, fig. 9 is a schematic flow chart of an embodiment of the transportation vehicle dispatching device provided in the embodiment of the present application, where the transportation vehicle dispatching device 900 includes a first obtaining unit 901, a first area dividing unit 902, a first identifying unit 903, a first generating unit 904, and a first sending unit 909:

a first obtaining unit 901, configured to obtain work scene image information of a field to be monitored;

a first region dividing unit 902, configured to perform region division on an image in the image information of the working scene to obtain region division information;

a first identifying unit 903 for identifying the identification information of the carrying vehicle in the work scene image information to acquire the position information of the carrying vehicle;

a first generation unit 904 and a first transmission unit 909 for generating path planning information and job planning information for the transport vehicle based on the area division information and the position information, and transmitting the path planning information and job planning information to the transport vehicle.

Compared with the prior art, the utility model, through first acquisition unit 901 obtaining the job scene image information in the place of waiting to monitor, first area division unit 902 carries out area division to the image in the job scene image information, obtains the area division information in the place of waiting to monitor, first identification unit 903 discerns the identification information of haulage vehicle in the job scene image information, in order to obtain the positional information of haulage vehicle, then first generation unit 904 based on area division information and positional information, generate the haulage vehicle in the place of waiting to monitor and carry out route planning and operation planning 909, finally send route planning information and operation planning information to the haulage vehicle through first sending unit 909, thereby improve the dispatch efficiency of haulage vehicle.

In addition to the method and apparatus for dispatching a transport vehicle described above, an embodiment of the present application further provides a computer device, which integrates any one of the transport vehicle dispatching apparatuses provided in the embodiments of the present application, and the computer device includes:

one or more processors;

a memory; and

one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to perform the operations of any of the methods described in any of the above-described method embodiments of the haulage vehicle dispatching method.

The embodiment of the application also provides computer equipment which integrates any one of the carrying vehicle dispatching devices provided by the embodiment of the application. Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of a computer device according to an embodiment of the present application.

As shown in fig. 10, it shows a schematic structural diagram of a transfer vehicle dispatching device designed in the embodiment of the present application, specifically:

the transit vehicle dispatching device may include components such as a processor 1001 of one or more processing cores, memory 1002 of one or more computer-readable storage media, a power source 1003, and an input unit 1004. Those skilled in the art will appreciate that the configuration of the transit vehicle dispatching device illustrated in FIG. 10 does not constitute a limitation of a transit vehicle dispatching device, and may include more or fewer components than illustrated, or some components in combination, or a different arrangement of components. Wherein:

the processor 1001 is a control center of the transport vehicle scheduling apparatus, connects various parts of the entire transport vehicle scheduling apparatus using various interfaces and lines, and executes various functions and processes data of the transport vehicle scheduling apparatus by operating or executing software programs and/or modules stored in the memory 1002 and calling data stored in the memory 1002, thereby monitoring the entire transport vehicle scheduling apparatus. Optionally, processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1001.

The memory 1002 may be used to store software programs and modules, and the processor 1001 executes various functional applications and data processing by operating the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to the use of the transfer vehicle scheduling apparatus, and the like. Further, the memory 1002 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 access to the memory 1002.

The haulage vehicle dispatching device further includes a power source 1003 for supplying power to each component, and preferably, the power source 1003 is logically connected to the processor 1001 through a power management system, so that functions of managing charging, discharging, power consumption and the like are realized through the power management system. The power source 1003 may also include any component including one or more of a dc or ac power source, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The transit vehicle dispatching device may also include an input unit 1004, the input unit 1004 operable to receive entered numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

Although not shown, the carrier vehicle dispatching device may further include a display unit or the like, which will not be described in detail herein. Specifically, in the embodiment of the present application, the processor 1001 in the transportation vehicle scheduling apparatus loads the executable file corresponding to the process of one or more application programs into the memory 1002 according to the following instructions, and the processor 1001 runs the application programs stored in the memory 1002, thereby implementing various functions as follows:

acquiring work scene image information of a field to be monitored; performing region division on an image in the image information of the working scene to obtain region division information; identifying identification information of the carrying vehicle in the work scene image information to obtain position information of the carrying vehicle; and generating path planning information and operation planning information for the transport vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the transport vehicle.

Compared with the prior art, the method for dispatching the transport vehicles comprises the steps that the visual monitoring module is arranged on the wall surface of the field to be monitored to obtain the work scene image information of the field to be monitored, the images in the work scene image information are subjected to area division to obtain the area division information of the field to be monitored, the identification information of the transport vehicles in the work scene image information is identified to obtain the position information of the transport vehicles, so that the dispatching module can generate the transport vehicles in the field to be monitored to carry out path planning and operation planning based on the area division information and the position information, and the path planning information and the operation planning information are sent to the transport vehicles, and therefore the dispatching efficiency of the transport vehicles is improved.

To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like. The computer readable storage medium has stored therein a plurality of instructions that can be loaded by the processor to perform the steps of any of the method for dispatching a haulage vehicle provided in the embodiments of the present application. For example, the instructions may perform the steps of:

acquiring work scene image information of a field to be monitored; performing region division on an image in the image information of the working scene to obtain region division information; identifying identification information of a carrying vehicle in the working scene image information to acquire position information of the carrying vehicle; and generating path planning information and operation planning information for the carrying vehicle based on the area division information and the position information, and sending the path planning information and the operation planning information to the carrying vehicle.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The method, the device, the system and the computer-readable storage medium for dispatching the haulage vehicle provided by the embodiment of the application are described in detail, a specific example is applied to the description to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A transport vehicle dispatching system is characterized by comprising a transport vehicle, a visual monitoring module and a dispatching module, wherein the dispatching module is respectively in communication connection with the transport vehicle and the visual monitoring module;

the scheduling module is configured to receive the area division information and the position information, generate path planning information and operation planning information for the transport vehicle based on the area division information and the position information, and send the path planning information and the operation planning information to the transport vehicle.

2. The transit vehicle dispatching system of claim 1, comprising a work module, a master control module, and a communication module, the master control module being electrically connected to the work module and the communication module, respectively;

3. A transit vehicle dispatching system as recited in claim 2, wherein the work module comprises a motion module configured to control the speed and direction of travel of the motion module in accordance with the motion control signal when receiving the motion control signal, and a job module configured to receive the job control signal and control the job status of the job module based on the job control signal.

4. The transfer vehicle dispatching system of claim 3, further comprising a detection module disposed on the transfer vehicle for detecting position information of a work object and sending the position information of the work object from the communication module to the dispatching module, so that the dispatching module adjusts the job planning information according to the position information of the work object and the position information after receiving the position information of the work object.

5. The transfer vehicle dispatching system of claim 1 or 2, further comprising a positioning module disposed on the transfer vehicle for obtaining positioning information of the transfer vehicle and sending the positioning information from the communication module to the dispatching module, so that the dispatching module verifies the location information after receiving the positioning information.

6. The transportation vehicle dispatching system of claim 1, wherein the vision monitoring module is further configured to perform semantic segmentation recognition processing on images in the working scene image information to generate object recognition information, perform path prediction on the object based on the object recognition information to generate object predicted path information, and send the object predicted path information to the dispatching system, so that the dispatching system, after receiving the object predicted path information, determines whether the transportation vehicle will collide with the object according to the object predicted path information and the position information, and if so, generates emergency obstacle avoidance information and sends the emergency obstacle avoidance information to the transportation vehicle.

7. The transfer vehicle dispatching system of claim 1, further comprising a dispatch display module electrically connected to the dispatch module, the dispatch display module configured to generate a task execution network graph of the transfer vehicle according to the path planning information and the job planning information of the transfer vehicle to show the task execution progress of the transfer vehicle.

8. The transit vehicle dispatching system of claim 1, further comprising a back-end monitoring display module electrically connected to the visual monitoring module, the back-end monitoring display module configured to obtain the job scene image information to display the job scene image information.

9. The transit vehicle dispatching system of claim 8, wherein the vision monitoring module is further configured to sequentially perform segmentation processing and transparentization processing on the images in the work scene image information to obtain a plurality of segmented images in a semi-transparent state, and send the plurality of segmented images in the semi-transparent state to the background monitoring display module.

10. The transit vehicle dispatching system of claim 1, wherein the regional division information includes a cargo securing storage area, a transit vehicle routing area, and a transit vehicle alert area, the dispatch module is configured to locate a routing area of the transit vehicle in the transit vehicle routing area and the cargo securing storage area, and when a pedestrian enters the transit vehicle alert area, the dispatch module generates and sends an alert signal and an emergency braking signal to the transit vehicle to emergency brake the transit vehicle and play the alert information.

11. A method of handling vehicle dispatch, the method comprising:

acquiring work scene image information of a field to be monitored;

identifying identification information of a carrying vehicle in the work scene image information to obtain position information of the carrying vehicle;

12. A transit vehicle dispatching device, comprising:

the system comprises a first acquisition unit, a second acquisition unit and a monitoring unit, wherein the first acquisition unit is used for acquiring the work scene image information of a field to be monitored;

the first region dividing unit is used for performing region division on the image in the working scene image information to obtain region division information;

the first identification unit is used for identifying the identification information of the carrying vehicle in the work scene image information so as to obtain the position information of the carrying vehicle;

and the first generating unit and the first sending unit are used for generating path planning information and operation planning information for the carrying vehicle based on the region division information and the position information, and sending the path planning information and the operation planning information to the carrying vehicle.

13. A computer device, characterized in that the computer device comprises:

one or more processors;

a memory; and

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the transit vehicle dispatching method of claim 11.

14. A computer-readable storage medium having stored thereon a computer program which is loaded by a processor to perform the steps in the method of transporting vehicles as claimed in claim 11.