CN107609714B - Path planning method for tubular logistics system - Google Patents
Path planning method for tubular logistics system Download PDFInfo
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- CN107609714B CN107609714B CN201710932793.4A CN201710932793A CN107609714B CN 107609714 B CN107609714 B CN 107609714B CN 201710932793 A CN201710932793 A CN 201710932793A CN 107609714 B CN107609714 B CN 107609714B
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Abstract
The invention discloses a path planning method for a tubular logistics system, which comprises the following steps: step 1: preliminarily determining a plurality of alternative paths; step 2: for each path, selecting a path in consideration of the path length or expected time taken by the path; the path is a path where the logistics vehicle travels on the track; each path includes at least one sub-path, each sub-path connecting two adjacent sites. The path planning method for the tubular logistics system is high in transportation efficiency, easy to implement and high in automation degree.
Description
Technical Field
The invention relates to a path planning method for a tubular logistics system.
Background
The existing logistics path planning method generally adopts manual planning, and usually only considers the length of a path, but does not quantitatively consider congestion in the path, and the planned path usually has the problem of low transportation efficiency caused by long consumed time, so that a new path planning method is needed to be designed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a path planning method for a tubular logistics system, which is easy to implement and high in transportation efficiency.
The technical solution of the invention is as follows:
a path planning method for a tubular logistics system comprises the following steps:
step 1: preliminarily determining a plurality of alternative paths;
step 2: for each path, selecting a path in consideration of the path length or expected time taken by the path;
the path is a path where the logistics vehicle travels on the track; each path includes at least one sub-path, each sub-path connecting two adjacent sites.
The path is a loop track or a tree track.
In step 2, the path is determined so as to take the shortest time.
In step 2, the path is determined according to the shortest path.
In step 2, the time and the path are comprehensively considered, and the path is determined.
The evaluation index is J; j ═ k1 × T + k2 × L;
k1 is the time weight, k2 is the distance weight; the value ranges of k1 and k2 are both 0-1, and k1+ k2 is 1;
t is the total time length from the departure place to the destination based on a certain path;
l is a total route from a starting place to a destination based on a certain route;
calculating a judgment index J of each path for a plurality of paths; and taking the path corresponding to the J minimum value as the finally determined path.
k1 is greater than 0.5, so as to place more emphasis on time efficiency, preferably k1 ═ 0.6-0.8; preferably values of 0.6, 0.65, 0.7, 0.75, 0.8.
Regardless of congestion, there are:
(1)
tithe operation time of the ith path at a preset speed is prolonged;
(2)
liis the path of the ith segment of the path.
Considering the congestion coefficients, there are:
(1)
biis a congestion coefficient; t is tiThe operation time of the ith path at a preset speed is prolonged;
(2)
liis the path of the ith segment of the path.
The congestion coefficient is analyzed according to the big data, and the average speed of the vehicles on the path in each time interval
From the rated speed vi0The ratio of (A) to (B); namely, it is
Average speed of vehicle
The congestion rate of the period of the last 1 day, or the maximumThe average speed of the corresponding period of the last 5 days and 10 days, i.e., the corresponding period, means that the day is divided into a plurality of periods, e.g., one period every half hour.
Has the advantages that:
the intercity logistics system corresponding to the path planning method for the tubular logistics system has two main characteristics, wherein one of a plurality of transportation modes can be selected for the intercity transportation line, the intercity transportation line comprises a common transportation line and a tubular transportation line, and the flexibility is high; secondly, after entering the city, unmanned transportation is realized through a tubular logistics network;
when adopting tubular transportation line and city tubular logistics net, can realize whole intelligent unmanned mode, it is efficient, moreover, when normal operation, can not cause the commodity circulation unsmooth because of reasons such as traffic congestion, therefore, can guarantee conveying efficiency to the furthest to and practice thrift the cost of transportation, this kind of intercity logistics mode is a high intelligent modern logistics mode.
In addition, in the urban tubular logistics network, the transportation route and time configuration can be optimized and refined by combining the setting of a safety strategy and the arrangement of scheduling, so that safety, energy conservation and efficiency are considered, and the comprehensive level of transportation is improved.
The logistics vehicle can run according to a preset speed by adopting an unmanned driving mode, can automatically adjust the running speed under the control of the monitoring and dispatching center, and can ensure the safe and efficient running of the logistics vehicle by the safety guarantee device which is arranged on the logistics vehicle and is based on the obstacle avoidance mechanism, the buffer mechanism and the positioning device, the logistics vehicle and the monitoring and dispatching center always keep data exchange, and all the logistics vehicles are uniformly allocated and monitored by the monitoring and dispatching center, so that an efficient and rapid logistics transportation network is formed.
The monitoring and dispatching center monitors and dispatches the states of all the logistics vehicles, specifically, monitors the distance between every two adjacent logistics vehicles, monitors the state of each branch mechanism, and uploads related state information to the server, thereby realizing the digital monitoring without dead angles in the whole network.
The loop track system is suitable for square or round urban areas; each transfer station all passes through the track UNICOM, and the trunk is many, including middle trunk and annular trunk, and the conveying efficiency is high. In addition, at the intersection, a curve for directly bypassing the transfer station is provided, and thus, the transportation efficiency can be further improved.
The tree-shaped rail system is suitable for flat urban areas; each transfer station all is through trunk track and branch UNICOM, and the trunk road is one, in addition, in the cross, is equipped with the bend that is used for directly walking around the transfer station, therefore, the conveying efficiency is high.
Moreover, according to the shape of a specific area and the requirement of a cargo distribution place (such as a certain position is a cargo distribution hot spot), a secondary transfer station and a tail end transfer station can be arranged at the hot spot, so that the flexibility is good, and the expansion is easy.
In a word, the logistics system is simple in structure, easy to implement, capable of achieving full-automatic unmanned management, high in digitization degree and transportation efficiency, is the development direction of future logistics networks, and is suitable for popularization and implementation.
Drawings
FIG. 1 is a schematic diagram of the general structure of an intercity intelligent logistics system;
FIG. 2 is a block diagram of a tubular logistics control system of a city;
FIG. 3 is a schematic view of a loop-based urban tubular logistics control system (without a secondary transfer station);
FIG. 4 is a schematic diagram of a loop-based urban tubular logistics control system (with a secondary transfer station);
FIG. 5 is a schematic diagram of a loop-based urban tubular logistics control system (with end transit station);
FIG. 6 is a schematic diagram of a basic architecture of a branch-architecture urban tubular logistics control system;
FIG. 7 is a schematic diagram of a city pipeline logistics control system with a branch architecture of an end transfer station;
FIG. 8 is a schematic structural diagram of a city tubular logistics control system with a branch architecture of a circular track;
FIG. 9 is a schematic view of the overall structure of the logistics vehicle;
FIG. 10 is a schematic view of a cargo hold;
fig. 11 is a control block diagram of the logistics vehicle.
Description of reference numerals: 1-logistics vehicle, 11-trunk transfer station, 12-intra-loop transfer station, 13-outer-loop trunk, 14-bend, 15-inline track, 16-branch switching mechanism, 17-secondary transfer station and 18-tail end transfer station.
19-main track, 20-branch track and 21-ring track.
31-a travelling wheel, 32-an obstacle avoidance mechanism, 33-a pantograph, 34-a power line, 35-a track and 36-a buffer mechanism.
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
example 1:
as shown in fig. 1, an inter-city logistics system includes a trans-city transportation line disposed between different cities in a logistics area (referring to a city of grade or a province or a country or an area including a plurality of countries), and a city tubular logistics network and a logistics hub disposed in different cities;
the urban tubular logistics network is also called an urban tubular logistics system; for the transportation of goods in cities (including the collection of goods, the transit of goods and the delivery of goods);
the logistics distribution center is a connection node between the urban tubular logistics network and the cross-city transportation line; the logistics hub is used for sending goods in the urban tubular logistics network in the city into the cross-city transport line and sending goods from the cross-city transport line into the urban tubular logistics network.
The intercity logistics system also comprises a master monitoring center, and when goods are transferred in the logistics distribution center, the information of the goods is collected and then sent to the master monitoring center.
The master monitoring center is connected with the server.
The city-crossing transport lines are common railway transport lines, high-speed rail transport lines, road transport lines, magnetic suspension transport lines or transport lines based on aircrafts (such as by civil air lines or unmanned planes). Ordinary railway lines refer to railway transport lines with an average speed equal to or lower than 250km/h, high-speed railway transport lines refer to railway transport lines with an average speed higher than 250 km/h.
The cross-city transportation line is a tubular transportation line; the tubular transportation line is a transportation line based on underground or overground pipelines, and transportation tracks are arranged in the pipelines.
And a relay station is arranged between adjacent cities. Generally, a relay station can be arranged when the distance of a transportation pipeline between 2 cities exceeds a preset distance, for example, more than 50 kilometers, and the relay station is convenient for further transfer of goods or is used for maintenance of logistics vehicles.
The tubular transportation line is built by means of railways, national roads or high-speed lines.
The tubular transport lines are arranged at the sides or the bottom of railways, national roads or high-speed lines.
Intercity logistics transportation method: arranging urban tubular logistics networks and logistics distribution centers in each city in a logistics area (referring to a grade city or a province or a country or an area comprising a plurality of countries); the logistics distribution centers of different cities are connected through a cross-city transportation line;
the urban tubular logistics network is also called an urban tubular logistics system; for the transportation of goods in cities (including the collection of goods, the transit of goods and the delivery of goods);
the logistics distribution center is a connection node between the urban tubular logistics network and the cross-city transportation line;
based on the demand of intercity logistics, under the scheduling and control of a main monitoring center:
goods needing intercity transportation in the urban tubular logistics network in the j city are firstly sent to a logistics distribution center of the j city, then are transported to a logistics distribution center of the k city through a cross-city transportation line between the j city and the k city, and then enter the urban tubular logistics network of the k city from the logistics distribution center of the k city, so that the goods transportation between any two cities is realized;
the affiliated j city or k city is any two cities in the logistics area.
If the city j and the city k are separated by at least one middle city, the transit is carried out through the logistics distribution center of the middle city and the cross-city transportation line of the middle city.
Goods connecting passages (such as automobile or tubular transport lines) are arranged between the logistics distribution center and the railway station, the high-speed rail station or the magnetic levitation station.
As shown in fig. 2, the city (or called as an urban) tubular logistics system includes a monitoring and dispatching center, a track, a transfer station, a logistics vehicle and a branch switching mechanism;
the monitoring and dispatching center is used for (1) monitoring the state, position and action of each logistics vehicle, (2) monitoring the state and action of the branch switching mechanism and (3) monitoring the circulation state of the goods;
the track is a tubular track; the track is a traveling track of the logistics vehicle;
the transfer station is arranged on the track; the transfer station is used for loading and unloading the logistics vehicle;
the branch switching mechanisms are multiple and are arranged at the staggered or branched positions of the tracks; the branch mechanism is used for switching the tracks under the control of the monitoring function and the dispatching center, so that the logistics vehicles are controlled to selectively enter the next section of track;
the logistics vehicles are multiple; for carrying and transporting cargo; the goods are provided with labels; the cargo is a package (including box-type packages and file bags or flexible cargo bags) or a transport bag comprising a plurality of packages, which is generally the same origin and the same destination;
the monitoring and dispatching center is used for planning a transportation path, controlling the plurality of logistics vehicles to run on the track through the branch switching mechanism based on the planned transportation path, and conveying the sorted goods from the departure transfer station to the destination transfer station.
The transfer station is provided with a cargo scanning device, and the information scanning, namely the recording, of the cargo is realized through the cargo scanning device in the loading and unloading process.
The goods scanning device is at least one of an RFID scanning device, a bar code scanning device, a two-dimensional code scanning device, an NCF device, Bluetooth or a Bluetooth device.
The track is an annular track or a tree-shaped branch track.
The monitoring and dispatching center is in communication connection with the transfer station, the logistics vehicles and the branch switching mechanism.
The monitoring and scheduling center is in communication connection with the cloud service center.
The track is a rail or a magnetic suspension track.
The logistics vehicle is a two-way power vehicle. The vehicle can run reversely without turning around, and the two ends of the vehicle body are provided with independent power.
The logistics vehicle is a single-compartment or multi-compartment vehicle body.
The monitoring and scheduling center optimizes scheduling strategies based on the operation data (i.e., large data is utilized to optimize scheduling, thereby improving efficiency, including smaller departure intervals when necessary, increased safety distance between adjacent logistics vehicles, optimized logistics paths, etc.).
The urban tubular logistics transportation method comprises the following steps:
step 1: scanning and loading;
scanning goods and loading the goods onto a logistics car at a transfer station; the scanned cargo loading information is uploaded to a monitoring and dispatching center;
step 2: transporting goods;
the logistics vehicle transports the goods to another transfer station according to a pre-planned path;
and step 3: unloading scanning;
and after the logistics vehicle arrives at the other transfer station, unloading, scanning the unloaded goods, and uploading the scanned goods loading information to the monitoring and dispatching center.
The transfer station is a target transfer station or a relay transfer station; the target transfer station means that no further tubular transportation is needed after the goods arrive at the transfer station, namely the transfer station is the final arrival station of the batch of goods; the relay transfer station means that another logistics vehicle needs to be transported by at least one rail at the transfer station to reach the destination transfer station.
Each transfer station is provided with sorting equipment for sorting goods.
Unloading in step 3 means unloading part or all of the cargo. And unloading all the cargos if all the cargos reach the transfer station, otherwise unloading part of the cargos, and unloading the rest cargos at the subsequent transfer station.
The transfer station is provided with a warehouse for storing goods.
The transfer station is provided with a lifting mechanism (cargo lift or conveyor belt, etc.) for transporting the cargo to the ground station.
The transfer station is provided with a maintenance workshop for maintaining the freight.
And the monitoring and scheduling center transmits the scanning information to the cloud server in real time.
Each logistics vehicle operates in a preset speed range. The preset speed range is a vehicle speed range in which the logistics vehicle can save energy. Based on the cargo capacity of the logistics vehicle, the speed range obtained through multiple experiments in advance is a normal transportation mode, and in a special transportation mode, accelerated transportation or slow transportation can be considered, if the cargo flow is large, the energy-saving effect is sacrificed, the efficiency is increased, or when the departure density is large, the efficiency is sacrificed, and the safety is guaranteed.
And all the logistics vehicles are uniformly monitored and dispatched by the monitoring and dispatching center. And the monitoring and scheduling center operates and schedules according to a preset operation chart or a preset operation adjusting mechanism.
Referring to fig. 2, the safety control system for the tube logistics system includes a monitoring and scheduling center, which is in communication connection with a logistics vehicle running on a track or staying in a transfer station; the monitoring and dispatching center is in communication connection with the branch switching mechanism arranged on the track;
each logistics vehicle is provided with a positioning module and a unique ID number;
each branch switching mechanism has a unique ID number;
the monitoring and dispatching center is responsible for monitoring the real-time position and the real-time running speed of the logistics vehicle;
the monitoring and dispatching center realizes the dispatching of the logistics vehicles by controlling the branch switching mechanism and controlling the speed of the logistics vehicles.
The monitoring and dispatching center monitors the vehicle distance between one logistics vehicle and the adjacent front and rear vehicles in real time, and if the vehicle distance is smaller than a preset value (such as 100m), the control measures (the control measures comprise acceleration of the front vehicle, deceleration of the rear vehicle, or direct parking of the rear vehicle when necessary, or shunting of one vehicle at the switching mechanism) are acquired to increase the vehicle distance between the two vehicles so as to avoid collision of the front and rear logistics vehicles.
The monitoring and dispatching center monitors the distance between one logistics vehicle and the nearest branch switching mechanism in front in real time, and if the branch switching mechanism in front still does not successfully change the lane within a preset distance (such as 200m), the monitoring and dispatching center controls the branch switching mechanism to change the lane and also controls the logistics vehicle to decelerate and stop if necessary so as to avoid equipment damage caused by direct punching and blocking of the logistics vehicle.
The logistics vehicle communicates with the monitoring and dispatching center through a wireless communication link in the pipeline or through a power line in contact with the pantograph.
The branch switching mechanism communicates with the monitoring and dispatching center through a wireless communication link in the pipeline or through a power line.
The logistics vehicle is provided with a positioning module and a speed detection module.
The monitoring and dispatching center is connected with the server, and the remote access terminal accesses the server to realize remote control of the monitoring and dispatching center.
The monitoring and dispatching center is a work station.
Both ends of the logistics vehicle are provided with driving mechanisms. The track is an annular track or a tree-shaped branch track.
A safety control method for a tubular logistics system adopts the safety control system for the tubular logistics system; the monitoring and dispatching center monitors each vehicle and branch mechanism, and comprises the following contents:
(1) controlling the logistics vehicle to travel according to a preset running path;
(2) monitoring the position of each logistics vehicle; monitoring the running speed of each logistics vehicle and the vehicle distance between adjacent logistics vehicles, and starting an alarm when the vehicle distance is smaller than a preset value; the speed of the post logistics vehicle is reduced;
(3) monitoring the state of each branch;
(4) and monitoring the state of the standby battery of each logistics vehicle.
Referring to fig. 3-5, a loop track for a tubular logistics system comprises a plurality of transfer stations and a plurality of tracks laid in a pipeline;
the track is used for bearing a logistics vehicle for transporting goods; the logistics vehicle is used for transporting goods from one transfer station to another transfer station;
the transfer station comprises a trunk transfer station 11; the track comprises an outer ring trunk 13; the outer ring trunk is used for connecting adjacent trunk transfer stations;
all outer circumferential artery forms a loop track.
The track of the adjacent 2 transfer stations is a multiplex track; the said compound track is at least one forward track and at least one reverse track.
The transfer station also comprises an intra-loop transfer station 12 arranged in an area enclosed by the loop track; an inline track 15 is arranged between the intra-ring transfer station and at least 2 trunk transfer stations.
The track also comprises a bend 14; the bend is arranged between the inline track and is used for bypassing the in-loop transfer station; the bend is also arranged between the inline track and the outer ring trunk road and is used for bypassing the trunk transfer station; and a branch switching mechanism 16 is arranged at the intersection of the curved road and the inner-connection track and the intersection of the curved road and the outer-ring trunk road.
The branch switching mechanism is provided with a communication module; the communication module is used for communicating with the monitoring host and the logistics vehicle.
The track is a magnetic suspension track; or the track is a contact rail.
A power supply line is arranged above the track; the logistics car gets electricity from the power supply line through the power receiving device and is used for driving the logistics car.
The logistics vehicle also obtains a control signal from the power supply line. See powerline (power cat) communication technology.
The logistics vehicle is internally provided with a power battery for driving the logistics vehicle to walk.
And a secondary transfer station 17 is arranged on the outer ring main road or the inner connecting track. And arranging the secondary transfer stations according to the distance between the transfer stations or the logistics hot spots. One external trunk or internal track can be provided with 0, 1 or a plurality of secondary transfer stations. The transfer station further includes an end transfer station 18 disposed within or outside the area enclosed by the loop track, the end transfer station being orbitally connected to at least one of the remaining transfer stations.
The transfer station is provided with a communication module; the communication module is used for communicating with the monitoring host and the logistics vehicle.
Referring to fig. 6-8, a tree-shaped track for a tubular logistics system comprises a plurality of transfer stations and a plurality of tracks laid in a pipeline;
the track is used for bearing a logistics vehicle for transporting goods; the logistics vehicle is used for transporting goods from one transfer station to another transfer station;
the transfer station comprises a plurality of trunk transfer stations 11; the rails include a backbone rail 19; the trunk track is used for connecting adjacent trunk transfer stations;
all the trunk tracks form linear non-closed trunk tracks.
The track of the adjacent 2 transfer stations is a multiplex track; the said compound track is at least one forward track and at least one reverse track.
The transfer stations also include end transfer stations 18; the track further comprises a branch track; the tail end transfer station is connected with the trunk transfer station through the branch rail so as to connect the branch rail into the trunk rail.
The transfer station further includes a secondary transfer station 17; the secondary transfer station is connected with the terminal transfer station through the branch track.
A plurality of secondary transfer stations are arranged near one end transfer station; the plurality of secondary transfer stations are respectively connected with the tail end transfer station through branch tracks, namely, in a star connection mode.
The track comprises an annular track 21; a plurality of secondary transfer stations are arranged near one end transfer station; the plurality of secondary transfer stations and the tail end transfer station are sequentially connected through the annular track to form a loop track; the loop track is connected into the branch track through the tail end transfer station, namely, the loop track is connected in a ring connection mode.
The track also comprises a bend 14; the bend is arranged between the main track and the branch track and is used for bypassing the main transfer station; and branch switching mechanisms 16 are arranged at the intersection of the curve and the main track and the intersection of the curve and the branch track.
The track also comprises a bend 14; the bend is arranged between the branch track and the secondary transfer station and is used for bypassing the tail end transfer station; a branch switching mechanism (16) is arranged at the intersection of the curved channel and the branch track.
The branch switching mechanism is provided with a communication module; the communication module is used for communicating with the monitoring host and the logistics vehicle.
The transfer station is provided with a communication module; the communication module is used for communicating with the monitoring host and the logistics vehicle.
The transfer station is provided with a communication module.
The track is a magnetic suspension track; or the track is a contact rail.
A power supply line is arranged above the track; the logistics car gets electricity from the power supply line through the power receiving device and is used for driving the logistics car.
The logistics vehicle also obtains a control signal from the power supply line. See powerline (power cat) communication technology.
The logistics vehicle is internally provided with a power battery for driving the logistics vehicle to walk.
As shown in fig. 9 to 11, the logistics vehicle for the tubular logistics system comprises a vehicle body, a walking system, a communication system and a power taking system; the vehicle body is provided with a controller;
the walking system is used for driving the vehicle body to walk, and the communication system is used for communicating the logistics vehicle with an external monitoring system;
the electricity taking system is used for obtaining electric energy to drive the walking system;
a storage bin for storing goods is arranged in the vehicle body.
The walking system is a wheel type walking system or a magnetic suspension walking system; the traveling system comprises a plurality of traveling wheels 31 and a driving mechanism for driving the traveling wheels; a plurality of walking wheels set up in automobile body bottom, the walking wheel can follow predetermined track 35 walking.
The power taking system is a pantograph 33 for taking power from a power line on the top of the vehicle body.
The communication system is a wired communication system or a wireless communication system.
The wired communication system is a power line-based power carrier communication system. It can be a power line modem or if the power line is a dc power line, a digital transmission signal can be loaded on the dc power line.
The wireless communication system is a ZigBee-based communication system or a 2G, 3G, 4G or 5G-based communication system. Preferably, to avoid weak signals, repeaters are arranged at fixed positions in the pipeline as signal transfer stations.
The front end or the rear end of the vehicle body is provided with an obstacle avoidance mechanism 32; the obstacle avoidance mechanism is used for detecting whether an obstacle exists in front of or behind the vehicle body; the obstacle avoidance mechanism sends the detected signal to a controller on the vehicle body. The obstacle avoidance mechanism is an ultrasonic detection mechanism or a laser ranging mechanism.
The front end or the rear end of the vehicle body is provided with a buffer mechanism; the buffer mechanism is used for weakening damage caused by collision of the vehicle body and a foreign object. The buffer mechanism is a spring mechanism or a buffer mechanism formed by foam or sponge.
A standby battery is arranged in the vehicle body. The function of the standby battery is that the vehicle body can be driven to move to a nearest transfer station or maintenance station along the track by the standby battery in case of the failure of the pantograph.
The storage bin is separated into a plurality of compartments by a plurality of partition plates.
The partition board can flexibly change the position, so that a plurality of compartments with different sizes can be formed; each compartment can be used for placing at least one storage bag, each storage bag is provided with a label (a bar code or a two-dimensional code or an RFID label), and one or more storage bags can be taken out by a manipulator or a person after a cover or a side door is opened at a transfer station.
In addition, a cover plate or a side door for opening the storage bin is arranged on the vehicle body.
The detection module comprises speed detection, acceleration detection and battery capacity detection;
the logistics vehicle also comprises a positioning module; the positioning module is GPS or Beidou or positioning based on a route and speed. Such as the nearest passing station plus the walking route and distance.
The vehicle body operates in the unmanned mode.
A path planning method for a tubular logistics system comprises the following steps:
step 1: preliminarily determining a plurality of alternative paths;
step 2: for each path, selecting a path in consideration of the path length or expected time taken by the path;
the path is a path where the logistics vehicle travels on the track; each path includes at least one sub-path, each sub-path connecting two adjacent sites.
The path is a loop track or a tree track.
In step 2, the path is determined so as to take the shortest time.
In step 2, the path is determined according to the shortest path.
In step 2, the time spent and the path length are comprehensively considered, and the path is determined.
The evaluation index is J; j ═ k1 × T + k2 × L;
k1 is the time weight, k2 is the distance weight; the value ranges of k1 and k2 are both 0-1, and k1+ k2 is 1;
t is the total time length from the departure place to the destination based on a certain path;
l is a total route from a starting place to a destination based on a certain route;
calculating a judgment index J of each path for a plurality of paths; and taking the path corresponding to the J minimum value as the finally determined path.
Regardless of congestion, there are:
(1)
tithe operation time of the ith path at a preset speed is prolonged;
(2)
lifor the i-th pathAnd (6) distance.
Considering the congestion coefficients, there are:
(1)
biis a congestion coefficient; t is tiThe operation time of the ith path at a preset speed is prolonged;
(2)
liis the path of the ith segment of the path.
The congestion coefficient is analyzed according to the big data, and the average speed of the vehicles on the path in each time interval
From the rated speed vi0The ratio of (A) to (B); namely, it is
Average speed of vehicle
The congestion rate of the period of time being the last 1 day, or the average speed of the corresponding period of the last 5 days, 10 days-the corresponding period, means that the day is divided into a plurality of periods, such as one period every half hour.
Claims (1)
1. A path planning method for a tubular logistics system is characterized by comprising the following steps:
step 1: preliminarily determining a plurality of alternative paths;
step 2: for each path, selecting a path in consideration of the path length or expected time taken by the path; the path is a path where the logistics vehicle travels on the track; each path comprises at least one terminal path, and each sub path is connected with two adjacent sites;
the path is a loop track or a tree track;
in step 2, determining the path with the shortest time; alternatively, in step 2, the path is determined as the shortest path, or,
in step 2, comprehensively considering the time and the path, and determining the path;
the evaluation index is J; j ═ k1 × T + k2 × L;
k1 is the time weight, k2 is the distance weight; the value ranges of k1 and k2 are both 0-1, and k1+ k2 is 1;
t is the total time length from the departure place to the destination based on a certain path;
l is a total route from a starting place to a destination based on a certain route;
calculating a judgment index J of each path for a plurality of paths; taking the path corresponding to the minimum J value as a finally determined path;
k1 is greater than 0.5;
regardless of congestion, there are:
(1)
tithe operation time of the ith path at a preset speed is prolonged;
(2)
lithe distance of the ith path;
considering the congestion coefficients, there are:
(1)
biis a congestion coefficient; t is tiThe operation time of the ith path at a preset speed is prolonged;
(2)
lithe distance of the ith path;
the congestion coefficient is analyzed according to the big data, and the average speed of the vehicles on the path in each time interval
From the rated speed vi0The ratio of (A) to (B); namely, it is
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| CN103745329B (en) * | 2013-12-19 | 2017-10-24 | 柳州职业技术学院 | A kind of economical logistics transportation allocator of internet of things oriented |
| US9896115B2 (en) * | 2015-06-27 | 2018-02-20 | General Electric Company | System and method for coordinating terminal operations with line of road movements |
| CN106503855A (en) * | 2016-10-26 | 2017-03-15 | 广州智网联运物流有限公司 | A kind of logistics transportation method and system |
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