CN112288316A - Control method, device and system for dispatching vehicle - Google Patents
Control method, device and system for dispatching vehicle Download PDFInfo
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Abstract
The invention discloses a control method, a device and a system for dispatching vehicles. Wherein, the method comprises the following steps: acquiring identification information of a graphic code of a material to be transported; issuing a task to be executed corresponding to the identification information to a vehicle to be scheduled, wherein the task to be executed is stored in the vehicle to be scheduled; acquiring an execution route corresponding to a task to be executed; and controlling the vehicle to be dispatched to transport the material to be transported according to the execution route. The invention solves the technical problem of high scheduling cost in scheduling vehicles in the related technology.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a control method, a device and a system for dispatching vehicles.
Background
With the continuous development of artificial intelligence technology, the control technology of the logistics navigation vehicle is mature continuously, and the logistics navigation vehicle is widely applied to the fields of automobile industry, household appliance manufacturing, E-commerce warehouse logistics, tobacco and the like. The logistics navigation vehicle is provided with an electromagnetic or optical automatic navigation device and the like, can run along a specified navigation path, and does not need human participation in the whole process.
When a traditional logistics navigation vehicle executes a task of material transportation, the task, traffic control and the like are generally issued through a scheduling system, and when the task and/or the traffic control are/is performed on the logistics navigation vehicle, a software engineer and corresponding material resources are additionally required to be invested, so that unnecessary cost is increased. In addition, in the prior art, tasks and/or traffic control are generally issued to the logistics navigation vehicle through a network, and the tasks and/or traffic control are generally performed through the network, and network delay may cause failure in issuing the tasks or failure in controlling.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method, a device and a system for dispatching vehicles, which are used for at least solving the technical problem of high dispatching cost in the process of dispatching the vehicles in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a control method of a scheduling vehicle, including: acquiring identification information of a graphic code of a material to be transported; issuing a task to be executed corresponding to the identification information to a vehicle to be scheduled, wherein the task to be executed is stored in the vehicle to be scheduled; acquiring an execution route corresponding to a task to be executed; and controlling the vehicle to be dispatched to transport the material to be transported according to the execution route.
Further, the control method of the dispatching vehicle further comprises: after controlling a vehicle to be dispatched to transport materials to be transported according to an execution route, detecting whether the vehicle to be dispatched runs to a target position; after detecting that the vehicle to be dispatched runs to a target position, controlling the vehicle to be dispatched and a target carrier to carry out signal butt joint operation, wherein the target carrier is used for placing a material to be transported; after the signal docking operation is finished, controlling the vehicle to be dispatched to travel to the original position; and issuing the next task to be executed to the vehicle to be dispatched at the original position.
Further, the control method of the dispatching vehicle further comprises: detecting whether a current vehicle to be dispatched is located in a preset area or not in the process of controlling the vehicle to be dispatched to transport materials to be transported according to an execution route; when detecting that the current vehicle to be dispatched is located in a preset area, detecting whether other vehicles to be dispatched exist in the traffic control area; and under the condition that other vehicles to be dispatched exist in the traffic control area, controlling the current vehicle to be dispatched to stop running.
Further, the control method of the dispatching vehicle further comprises: and after the current vehicle to be dispatched is controlled to stop running, under the condition that other vehicles to be dispatched are detected not to exist in the traffic control area, the current vehicle to be dispatched is controlled to enter the traffic control area.
Further, the control method of the dispatching vehicle further comprises: acquiring the position information of a current vehicle to be scheduled; determining the distance between the current vehicle to be dispatched and the traffic control area according to the position information; and under the condition that the distance is smaller than the preset distance, determining that the current vehicle to be dispatched is located in the preset area.
Further, the control method of the dispatching vehicle further comprises: and storing the area information of the traffic control area into the current vehicle to be dispatched before detecting whether the current vehicle to be dispatched is located in the preset area.
Further, the vehicle to be dispatched is an automatic driving vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus for dispatching a vehicle, including: the first acquisition module is used for acquiring the identification information of the graphic code of the material to be transported; the first control module is used for issuing a task to be executed corresponding to the identification information to the vehicle to be scheduled; the second acquisition module is used for acquiring an execution route corresponding to the task to be executed; and the second control module is used for controlling the vehicle to be dispatched to transport the material to be transported according to the execution route.
According to another aspect of the embodiment of the invention, a control system of a dispatching vehicle is further provided, which at least comprises the control device of the dispatching vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of the dispatch vehicle described above when running.
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is arranged to execute the control method of dispatching a vehicle described above when running.
In the embodiment of the invention, a mode of combining a task system and a code scanner is adopted, the code scanner is used for acquiring the identification information of the graphic code of the material to be transported, the task to be executed corresponding to the identification information is issued to the vehicle to be dispatched, then the execution route corresponding to the task to be executed is acquired, and the vehicle to be dispatched is controlled to transport the material to be transported according to the execution route.
In the process, the bar code is scanned through the bar code scanner, the identification information corresponding to the bar code can be obtained, then the task to be executed of the vehicle to be dispatched can be obtained based on the identification information, extra software workers are not needed in the process, and the dispatching cost of the vehicle to be dispatched is reduced.
Therefore, the scheme provided by the application achieves the purpose of automatically issuing the tasks to be executed, the technical effect of reducing the dispatching cost of the vehicles to be dispatched is achieved, and the technical problem that the dispatching cost is high when the vehicles are dispatched in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a control method for dispatching a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative vehicle dispatch in accordance with embodiments of the present invention;
FIG. 3 is a schematic view of an alternative intersection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an alternative T-junction in accordance with embodiments of the invention;
FIG. 5 is a flow diagram of an alternative traffic control according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a control device for dispatching vehicles according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a control method for dispatching vehicles, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flowchart of a control method of dispatching a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
and S102, acquiring identification information of the graphic code of the material to be transported.
In step S102, the graphic code may be disposed on the material to be transported, or disposed on a packing box of the material to be transported. The graphic code can be, but is not limited to, a two-dimensional code or a bar code. The identification information of the graphic code can be represented in a digital form, wherein the identification information of the graphic code is the unique identification of the material to be transported.
Optionally, the vehicle to be dispatched is provided with a code scanner, and the code scanner scans a graphic code arranged on the material to be transported or arranged on a packaging box of the material to be transported to obtain the identification information.
And step S104, issuing the task to be executed corresponding to the identification information to the vehicle to be dispatched.
In step S104, the Vehicle to be scheduled is a Vehicle equipped with an automatic navigation device such as an electromagnetic or optical device, and may be, but is not limited to, an AGV (Automated Guided Vehicle). In addition, the tasks to be executed are stored in the vehicles to be dispatched, wherein the task numbers corresponding to the tasks to be executed have a corresponding relation with the identification information, and the corresponding tasks to be executed can be found through the identification information.
In an optional embodiment, fig. 2 shows a flow chart of an optional vehicle scheduling, as can be seen from fig. 2, before a barcode scanner of a vehicle to be scheduled scans a graphic code, a plurality of tasks to be executed and execution routes corresponding to the tasks to be executed, which are required to be used, are stored in a controller of the vehicle to be scheduled in advance to establish a task library and a route library, and meanwhile, identification information of a material to be transported is bound to the tasks to be executed. After the vehicle to be dispatched starts to run, the vehicle to be dispatched starts from the task origin to reach the material receiving line body, and is in butt joint with the material receiving line body, then the material is connected, at the moment, the material enters the vehicle to be dispatched from the material receiving line body, and meanwhile, the code scanner on the vehicle to be dispatched obtains the identification information through scanning the graphic code. And then, the controller of the vehicle to be dispatched analyzes the obtained identification information and issues a corresponding task number AN in the task library to the controller.
And step S106, acquiring an execution route corresponding to the task to be executed.
In step S106, the task to be executed and the execution route have a corresponding relationship, optionally, the execution route is stored in the controller of the vehicle to be dispatched in the form of an array, as shown in table 1, the task a is1Route A of (1)1,1-A1,5And respectively storing and executing according to the sequence of the steps 1-5.
Optionally, as shown in fig. 2, after determining the to-be-executed task corresponding to the to-be-scheduled vehicle, the execution route may be determined according to the number of the to-be-executed task.
It should be noted that the task to be executed and the execution route are both stored in the vehicle to be scheduled, and after the graphic code is scanned, the task to be executed and the execution route can be directly acquired from the local of the vehicle to be scheduled without passing through a network, so that the problems of task issuing failure and/or control failure caused by network delay can be avoided.
TABLE 1
And S108, controlling the vehicle to be dispatched to transport the material to be transported according to the execution route.
After the steps S102 to S106, the vehicle to be dispatched can transport the material to be transported according to the execution route.
Based on the solutions defined in the above steps S102 to S108, it can be known that, in the embodiment of the present invention, in a manner that a task system is combined with a code scanner, the code scanner obtains identification information of a graphic code of a material to be transported, issues a task to be executed corresponding to the identification information to a vehicle to be scheduled, then obtains an execution route corresponding to the task to be executed, and controls the vehicle to be scheduled to transport the material to be transported according to the execution route.
It is easy to note that in the above process, the barcode scanner scans the graphic code to obtain the identification information corresponding to the graphic code, and then the task to be executed of the vehicle to be scheduled can be obtained based on the identification information.
Therefore, the scheme provided by the application achieves the purpose of automatically issuing the tasks to be executed, the technical effect of reducing the dispatching cost of the vehicles to be dispatched is achieved, and the technical problem that the dispatching cost is high when the vehicles are dispatched in the related technology is solved.
In an alternative embodiment, as can be seen from fig. 2, after the vehicle to be dispatched is controlled to transport the material to be transported according to the execution route, that is, after the current task is completed, the task needs to be switched to enable the vehicle to be dispatched to execute the next task. Specifically, whether a vehicle to be scheduled runs to a target position is detected, after the vehicle to be scheduled is detected to run to the target position, the vehicle to be scheduled and a target carrier are controlled to carry out signal docking operation, after the signal docking operation is completed, the vehicle to be scheduled is controlled to run to an original position, and a next task to be executed is issued to the vehicle to be scheduled at the original position. Wherein the target carrier is used for placing the material to be transported.
Optionally, in the above process, the target carrier is a target line body, that is, after the vehicle to be dispatched reaches the target line body and signal docking is completed, the material is docked, and then the next material transportation task is continued by returning to the task origin.
It should be noted that, in the process of switching the tasks to be executed, the automatic switching of the tasks to be executed can be realized without the participation of software engineering personnel, so that the investment cost of the dispatching system is saved, and the efficiency of material transportation is improved.
In an optional embodiment, the scheme provided by the application can also realize the traffic control of the vehicle to be dispatched. Specifically, in the process of controlling the vehicle to be scheduled to transport the material to be transported according to the execution route, whether the vehicle to be scheduled is located in a preset area or not is detected, when the vehicle to be scheduled is detected to be located in the preset area, whether other vehicles to be scheduled exist in the traffic control area or not is detected, and the vehicle to be scheduled is controlled to stop running under the condition that other vehicles to be scheduled exist in the traffic control area is detected.
Optionally, before it is detected whether the current vehicle to be scheduled is located in the preset area, the area information of the traffic control area is stored in the current vehicle to be scheduled. The traffic control area may be stored in a controller of a vehicle to be dispatched in a coordinate form, wherein the traffic control area may be, but is not limited to, an intersection or a t-junction. FIG. 3 is a schematic illustration of an intersection, wherein the coordinates of the intersections B1-B4 are stored in the controller of the vehicle to be dispatched; FIG. 4 is a schematic diagram of a T-junction, wherein the coordinates of the T-junction B5-B7 are stored in the controller of the vehicle to be dispatched.
Further, in the process of controlling the vehicle to be dispatched to transport the material to be transported according to the execution route, firstly, the position information of the current vehicle to be dispatched is obtained, then, the distance between the current vehicle to be dispatched and the traffic control area is determined according to the position information, and the current vehicle to be dispatched is determined to be located in the preset area under the condition that the distance is smaller than the preset distance.
Optionally, the preset area may be an area near the traffic control area, wherein whether the vehicle to be scheduled is located in the preset area may be determined according to a distance between a center point of the traffic control area and the vehicle to be scheduled, and if the distance is greater than the preset distance, it may be determined that the vehicle to be scheduled is not located in the preset area. In addition, whether the current vehicle to be dispatched is located in the preset area or not can be determined according to the distance between the boundary of the traffic control area closest to the current vehicle to be dispatched and the current vehicle to be dispatched, and if the distance is larger than the preset distance, the current vehicle to be dispatched is determined not to be located in the preset area.
In an optional embodiment, after the current vehicle to be scheduled is controlled to stop running, the current vehicle to be scheduled is controlled to enter the traffic control area under the condition that other vehicles to be scheduled are detected to be not present in the traffic control area.
Optionally, fig. 5 shows a flow chart of an optional traffic control, and as can be seen from fig. 5, in the aspect of traffic control, it is first necessary to store coordinates of the intersection or the periphery of the area, where traffic control may be needed, in a controller of a vehicle to be scheduled in advance, and perform real-time sharing of the coordinates between the vehicle and the vehicle during the operation of the vehicle to be scheduled. The traffic control rule adopts the principle of first-in first-out and last-in stopping, and when the vehicles to be dispatched reach the intersection or the periphery of the traffic control area, whether other vehicles to be dispatched exist in the traffic control area is judged. If other vehicles to be dispatched exist in the traffic control area, stopping the current vehicle to be dispatched until the current vehicle to be dispatched can enter the traffic control area after other vehicles to be dispatched in the traffic control area exit the control area; if other vehicles to be dispatched do not exist in the traffic control area, the current vehicles to be dispatched can normally enter the traffic control area.
According to the method and the system, the task system and the code scanner are combined, so that the functions of automatic issuing, switching, executing and the like of the task to be executed can be realized, meanwhile, traffic control between the vehicles can be performed, the cost is reduced to the maximum extent, and the reliability of equipment is improved.
Example 2
According to an embodiment of the present invention, there is also provided an embodiment of a control device for a dispatching vehicle, wherein fig. 6 is a schematic diagram of the control device for the dispatching vehicle according to the embodiment of the present invention, and as shown in fig. 6, the device includes: a first obtaining module 601, a first control module 603, a second obtaining module 605, and a second control module 607.
The first obtaining module 601 is configured to obtain identification information of a graphic code of a material to be transported; the first control module 603 is configured to issue a task to be executed corresponding to the identification information to a vehicle to be scheduled; a second obtaining module 605, configured to obtain an execution route corresponding to a task to be executed; and the second control module 607 is used for controlling the vehicle to be dispatched to transport the material to be transported according to the execution route.
It should be noted that the first obtaining module 601, the first control module 603, the second obtaining module 605 and the second control module 607 correspond to steps S102 to S108 in the foregoing embodiment, and the four modules are the same as the corresponding steps in the implementation example and application scenarios, but are not limited to the disclosure in embodiment 1.
Optionally, the control device for dispatching vehicles further includes: the device comprises a first detection module, a third control module, a fourth control module and a fifth control module. The first detection module is used for detecting whether the vehicle to be dispatched travels to a target position or not after controlling the vehicle to be dispatched to transport the material to be transported according to the execution route; the third control module is used for controlling the vehicle to be dispatched and a target carrier to carry out signal butt joint operation after the vehicle to be dispatched is detected to run to a target position, wherein the target carrier is used for placing the material to be transported; the fourth control module is used for controlling the vehicle to be dispatched to run to the original position after the signal butt joint operation is finished; and the fifth control module is used for issuing the next task to be executed to the vehicle to be dispatched at the original position.
Optionally, the control device for dispatching vehicles further includes: the device comprises a second detection module, a third detection module and a sixth control module. The second detection module is used for detecting whether the current vehicle to be dispatched is located in a preset area or not in the process of controlling the vehicle to be dispatched to transport the material to be transported according to the execution route; the third detection module is used for detecting whether other vehicles to be dispatched exist in the traffic control area or not when the current vehicle to be dispatched is detected to be located in the preset area; and the sixth control module is used for controlling the current vehicle to be dispatched to stop running under the condition that other vehicles to be dispatched are detected to exist in the traffic control area.
Optionally, the control device for dispatching vehicles further includes: and the seventh control module is used for controlling the current vehicle to be dispatched to enter the traffic control area under the condition that other vehicles to be dispatched do not exist in the traffic control area after the current vehicle to be dispatched is controlled to stop running.
Optionally, the third detecting module includes: the device comprises a third acquisition module, a first determination module and a second determination module. The third acquisition module is used for acquiring the position information of the current vehicle to be scheduled; the first determining module is used for determining the distance between the current vehicle to be dispatched and the traffic control area according to the position information; and the second determining module is used for determining that the current vehicle to be dispatched is located in the preset area under the condition that the distance is smaller than the preset distance.
Optionally, the control device for dispatching vehicles further includes: the storage module is used for storing the area information of the traffic control area into the current vehicle to be dispatched before detecting whether the current vehicle to be dispatched is located in the preset area.
Optionally, the vehicle to be scheduled is an autonomous vehicle.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a control system of a dispatching vehicle, including at least the control device of the dispatching vehicle in embodiment 2 above.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of the dispatch vehicle in embodiment 1 described above when running.
Example 5
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is configured to execute the control method of the dispatching vehicle in the above embodiment 1 when running.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, 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.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A control method for a dispatch vehicle, comprising:
acquiring identification information of a graphic code of a material to be transported;
issuing a task to be executed corresponding to the identification information to a vehicle to be scheduled;
acquiring an execution route corresponding to the task to be executed;
and controlling the vehicle to be dispatched to transport the material to be transported according to the execution route.
2. The method of claim 1, wherein after controlling the vehicle to be dispatched to transport the material to be transported according to the execution route, the method further comprises:
detecting whether the vehicle to be dispatched runs to a target position;
after the vehicle to be dispatched is detected to run to the target position, controlling the vehicle to be dispatched and a target carrier to carry out signal butt joint operation, wherein the target carrier is used for placing the material to be transported;
after the signal docking operation is finished, controlling the vehicle to be dispatched to travel to an original position;
and issuing the next task to be executed to the vehicle to be dispatched at the original position.
3. The method of claim 1, further comprising:
detecting whether the current vehicle to be dispatched is located in a preset area or not in the process of controlling the vehicle to be dispatched to transport the material to be transported according to the execution route;
when the current vehicle to be scheduled is detected to be located in the preset area, detecting whether other vehicles to be scheduled exist in the traffic control area;
and under the condition that the other vehicles to be dispatched are detected to exist in the traffic control area, controlling the current vehicle to be dispatched to stop running.
4. The method according to claim 3, wherein after controlling the vehicle to be currently scheduled to stop running, the method further comprises:
and controlling the current vehicle to be dispatched to enter the traffic control area under the condition that the other vehicles to be dispatched do not exist in the traffic control area.
5. The method of claim 3, wherein detecting whether the vehicle currently to be dispatched is located in a preset area comprises:
acquiring the position information of the current vehicle to be dispatched;
determining the distance between the current vehicle to be dispatched and the traffic control area according to the position information;
and under the condition that the distance is smaller than a preset distance, determining that the current vehicle to be dispatched is located in the preset area.
6. The method of claim 3, wherein prior to detecting whether the vehicle currently to be dispatched is within the preset zone, the method further comprises:
and storing the area information of the traffic control area into the current vehicle to be dispatched.
7. The method of claim 1, wherein the vehicle to be scheduled is an autonomous vehicle.
8. A control apparatus for a dispatching vehicle, comprising:
the first acquisition module is used for acquiring the identification information of the graphic code of the material to be transported;
the first control module is used for issuing a task to be executed corresponding to the identification information to a vehicle to be dispatched;
the second acquisition module is used for acquiring an execution route corresponding to the task to be executed;
and the second control module is used for controlling the vehicle to be dispatched to transport the material to be transported according to the execution route.
9. A control system of a dispatching vehicle, characterized by comprising at least the control device of the dispatching vehicle recited in claim 8.
10. A non-volatile storage medium, wherein a computer program is stored in the non-volatile storage medium, wherein the computer program is arranged to execute the control method of a dispatch vehicle as claimed in any one of claims 1 to 7 when executed.
11. A processor for running a program, wherein the program is arranged to execute the control method of a dispatch vehicle as claimed in any one of claims 1 to 7 when run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011281920.7A CN112288316A (en) | 2020-11-16 | 2020-11-16 | Control method, device and system for dispatching vehicle |
Applications Claiming Priority (1)
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