CN107741736A - A kind of safety control system and method for tubular type logistics system - Google Patents
A kind of safety control system and method for tubular type logistics system Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of safety control system and method for tubular type logistics system, described system includes monitoring and control centre, and monitoring and control centre communicate to connect with the logistic car for running in orbit or resting in terminal；Monitoring and control centre are with arranging that branch's switching mechanism in orbit communicates to connect；Each logistic car has a locating module and a unique ID number；Each branch's switching mechanism has a unique ID number；Monitoring and control centre are responsible for monitoring the real time position and real time execution speed of logistic car；Monitoring and control centre are by controlling branch's switching mechanism and controlling scheduling of the velocity interpolation of logistic car to logistic car.This safety control system and method for tubular type logistics system can ensure logistic car safe and highly efficient operation.
Description
Technical field
The present invention relates to a kind of safety control system and method for tubular type logistics system.
Background technology
The safety control system and method for existing logistics system, it is typically no to form unified digital monitoring system,
Thus monitoring efficiency it is low, the development of modern logistics can not be adapted to, therefore, it is necessary to design a kind of new automaticity it is higher and
Monitoring system and method more efficiently.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of safety control system for tubular type logistics system and side
Method, this safety control system and method for tubular type logistics system can ensure logistic car safe and highly efficient operation.
The technical solution of invention is as follows：
A kind of safety control system for tubular type logistics system, including monitoring and control centre, monitoring and control centre
Logistic car with running in orbit or resting in terminal communicates to connect；Monitoring and control centre are with arranging in orbit
Branch's switching mechanism communication connection；
Each logistic car has a locating module and a unique ID number；
Each branch's switching mechanism has a unique ID number；
Monitoring and control centre are responsible for monitoring the real time position and real time execution speed of logistic car；
Monitoring and control centre are by controlling branch's switching mechanism and controlling the velocity interpolation of logistic car to logistic car
Scheduling.
Monitoring and control centre monitor the spacing between a logistic car and adjacent front and rear car in real time, are preset if spacing is less than
It is worth (such as 100m), then (control measure accelerate including front truck, and rear car is slowed down, or rear car is directly stopped if necessary for acquisition control measure
Car；Or shunted a wherein car at switching mechanism) spacing between two cars of increase, to avoid the generation of front and rear logistic car
Collision.
Monitoring and control centre monitor the distance between a logistic car and the nearest branch's switching mechanism in front, mistake in real time
Also branch's switching mechanism still without success lane change, then controls branch's switching mechanism lane change in front of (such as 200m) in default distance
While, also control described logistic car to slow down, stop if necessary, cause equipment to damage to avoid direct logistic car from directly rushing card
It is bad.
Logistic car passes through the wireless communication link in pipeline or the power line by being contacted with pantograph and monitoring and scheduling
Center to center communications.
Branch's switching mechanism communicates by the wireless communication link in pipeline or by power line with monitoring and control centre.
Logistic car is provided with locating module and velocity measuring module.
Monitoring and control centre are connected with server, and remote terminal access accesses server and can realized in monitoring and scheduling
The remote control of the heart.
Monitoring and control centre are work station.
All there is drive mechanism at the both ends of described logistic car.Described track is circular orbit or tree-like branch's track.
A kind of method of controlling security for tubular type logistics system, it is characterised in that use and be previously described for tubular type logistics
The safety control system of system；Realized by monitoring and control centre and each vehicle and branch are monitored, including it is following interior
Hold：
(1) logistic car is controlled to be advanced by predetermined operating path；
(2) position of each logistic car is monitored；And monitor the speed of service of each logistic car and the spacing of adjacent streams car, car
During away from less than predetermined value, start alarm；And reduce the speed in rear logistic car；
(3) state of each branch is monitored；
(4) status of backup battery of each logistic car is monitored.
Beneficial effect：
The monitoring and control centre of the present invention is monitored and allocated to the state of all logistic cars, specifically, monitoring
The spacing of individual adjacent streams car, the state of each branch is also monitored in addition, and related status information is uploaded onto the server, and is realized
Digital monitoring of the whole network without dead angle.
The control decorum of the present invention operates in Urban Logistics System and intercity logistics system.Wherein intercity logistics system, tool
There are two big features, first, one of optional a variety of Transportation Models of inter-city transport line, including common supply line and tubular type transport
Line, flexibility are high；Second, after entering in city, unmanned transport is realized by tubular type logistics network；
During using tubular type supply line and city tubular type logistics net, whole Intelligent unattended pattern can be realized, efficiency high, and
And during normal operation, because of reasons such as traffic congestions logistics will not be caused not smooth, thus, conevying efficiency can be ensured to greatest extent, with
And cost of transportation is saved, this intercity logistic pattern, it is a kind of modern logistical mode of high-intelligentization.
In addition, in the tubular type logistics net of city, with reference to the setting of security strategy, and the arrangement of scheduling, can optimize and smart
Transit route and time configuration are refined, so as to take into account safety, energy-conservation and efficiency, improves the level of aggregation of transport.
The logistic car of the present invention, using unmanned pattern, can be travelled according to predetermined speed, and in monitoring and scheduling
Under the control of the heart, the speed of service can be automatically adjusted, in addition logistic car itself have based on avoidance mechanism, buffer gear and
The safety convenience instrument of positioner, logistic car safety and Effec-tive Function can be ensured, and logistic car begins with monitoring and control centre
Keep data exchange eventually, all logistic cars are monitored and unified allocation of resources of control centre and monitoring, so as to form a height
Imitate efficiently logistics transportation networks.
Loop track system is suitable for square or circular city；For each terminal by track UNICOM, arterial highway is more, including
Middle arterial highway and annular arterial highway, conevying efficiency are high.In addition, in infall, provided with for the bend directly around terminal, because
And it can further improve conevying efficiency.
Tree-shaped rail system is suitable for the city of platypelloid type；Each terminal passes through trunk rail and UNICOM of branch, trunk
Road is one, in addition, in infall, provided with for the bend directly around terminal, thus, conevying efficiency is high.
Moreover, (radiated according to the requirement of the shape in specific region and entrepot for goods collection such as a certain position
Point), secondary terminal and end terminal can be set at focus, and flexibility is good, is easy to extend.
Sum it up, this safety control system for tubular type logistics system is simple for structure, and it is easy to implement, it can realize complete
Automatic unattended, digitized degree is high, and conevying efficiency is high, is the developing direction of following logistics network, is adapted to promotion and implementation.
Brief description of the drawings
Fig. 1 is intercity intelligent logistics system general structure schematic diagram；
Fig. 2 is city tubular type logistics control system framework map；
Fig. 3 is the city tubular type logistics control system schematic diagram (not having secondary terminal) of loop architectures；
Fig. 4 is the city tubular type logistics control system schematic diagram (having secondary terminal) of loop architectures；
Fig. 5 is the city tubular type logistics control system schematic diagram (having end terminal) of loop architectures；
Fig. 6 is the basic framework schematic diagram of the city tubular type logistics control system of branch's framework；
Fig. 7 is the configuration diagram of the city tubular type logistics control system of branch's framework with end terminal；
Fig. 8 is the city tubular type logistics control system structural representation of branch's framework with circular orbit；
Fig. 9 is the general structure schematic diagram of logistic car；
Figure 10 is warehouse structure schematic diagram；
Figure 11 is the control block diagram of logistic car.
Label declaration：1- logistic cars, 11- trunk terminals, terminal in 12- rings, 13- outer shrouds arterial highway, 14- bends, 15-
Inline track, 16- branches switching mechanism, 17- level terminal, 18- ends terminal.19- trunk rails, 20- branches track,
21- circular orbits.31- road wheels, 32- avoidances mechanism, 33- pantographs, 34- power lines, 35- tracks, 36- buffer gears.
Embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：
As shown in figure 1, a kind of intercity intelligent logistics system, including be arranged on logistics region and (refer to a prefecture-level city or one
Save or a country or including multiple national regions) across city supply line between different cities and be arranged on the cities of different cities
City's tubular type logistics network and logistics distribution center；
City tubular type logistics network is also known as city tubular type logistics system；For in city cargo transport (including collect goods
Thing, transfer transport goods and be sent to goods)；
Logistics distribution center is coupled node between city tubular type logistics network and across city supply line；Logistics distribution center
For the goods in the city tubular type logistics network in this city to be sent into across city supply line, and for across city transport will to be come from
Goods in line is sent into city tubular type logistics network.
Described intercity intelligent logistics system also includes total Surveillance center, when goods carries out transfer in logistics distribution center,
Total Surveillance center is delivered to after the information of goods is collected.
Total Surveillance center is connected with server.
Across city supply line be common railway supply line, high ferro supply line, highway transportation line, levitated transport line or based on fly
The supply line of row device (such as by civil airline or unmanned plane).Common railway line refers to that average speed is equal to or less than 250km/h
Railway supplyline, high ferro supply line refer to average speed be higher than 250km/h railway supplyline.
Across city supply line is tubular type supply line；Tubular type supply line refers to the supply line based on underground or above-ground line, pipeline
It is interior to be provided with conveying track.
It is adjacent intercity to be provided with relay station.General 2 intercity transport lines are set more than pre-determined distance can
Relay station, such as more than 50 kilometers, relay station is easy to the further transfer of goods, or the maintenance for logistic car.
Tubular type supply line relies on railway, national highway or high-speed line construction.
Tubular type supply line is arranged on sidepiece or the bottom of railway, national highway or high-speed line.
Intercity logistics transportation method：(refer to a prefecture-level city or a province or a country or including multiple in logistics region
The region of country) in each city arrangement city tubular type logistics network and logistics distribution center；During the logistics of different cities is collecting and distributing
It is connected between the heart by across city supply line；
City tubular type logistics network is also known as city tubular type logistics system；For in city cargo transport (including collect goods
Thing, transfer transport goods and be sent to goods)；
Logistics distribution center is coupled node between city tubular type logistics network and across city supply line；
Based on the demand of intercity logistics, under the scheduling and control of main Surveillance center：
In city tubular type logistics network in j cities need inter-city transport goods first deliver to j cities logistics it is collecting and distributing
Center, then transport through across the city supply line between j cities and k cities the logistics distribution center in k cities, then from the k cities
Logistics distribution center enters the city tubular type logistics network in k cities, so as to realize the cargo transport between any two city；
Affiliated j cities or k cities are any two city in logistics region.
If it is separated by least one middle city between j cities and k cities, by the logistics distribution center in the middle city
And across the city supply line of middle city time carries out transfer.
Between logistics distribution center and railway station, high ferro station or maglev station provided with goods plug into passage (such as automobile or
Tubular type supply line).
Such as Fig. 2, city (or being city) tubular type logistics system includes monitoring and control centre, track, terminal, logistics
Car and branch's switching mechanism；
Monitoring and control centre are used for (1) and monitor state, position and the action of each logistic car, (2) monitoring branch switching machine
The state of structure and action and the transmitting state of (3) monitoring goods；
Described track is tubular type track；Track is the traveling path of logistic car；
Terminal sets in orbit；Terminal is used for the loading and unloading of logistic car；
Branch's switching mechanism to be multiple, be arranged on track staggeredly or bifurcation；Branch be used in monitoring function and
Handoff path under the control of control centre, so as to control logistic car to be selectively entered lower track section；
Described logistic car is multiple；For carrying and transporting goods；Goods carries label；Goods is a parcel (bag
Include box parcel and documents pouch or soft Cargo bag) or include the shipping bags that more than one piece is wrapped up, this shipping bags are usually same
Individual departure place and same destination；
Monitoring and control centre are used to plan transportation route, and the transportation route based on planning, and pass through branch's switching machine
Structure, so as to control orbiting for multiple logistic cars, the goods after sorting is delivered in destination from departure place terminal
Turn station.
Goods scanning means is provided with terminal, is being freighted with realizing goods by goods scanning means in Discharging Process
Information scanning records.
Described goods scanning means is RFID scanning means, bar code scanner, two-dimensional code scanning device, NCF dresses
Put, at least one of bluetooth or blue-tooth device.
Described track is circular orbit or tree-like branch's track.
Monitoring and control centre communicate to connect with terminal, logistic car and branch's switching mechanism.
Monitoring and control centre communicate to connect with cloud service center.
Track is rail or magnetic-levitation.
Logistic car is Bidirectional power car.Need not turn around can inverted running, there is independent power at car body both ends.
Logistic car is bicycle railway carriage or compartment or more carriage-type car bodies.
Monitoring and control centre are based on service data Optimized Operation strategy (i.e. using big data Optimized Operation, so as to improve
Efficiency.Including the smaller departure interval if necessary, increase the safe distance of adjacent streams car, optimize logistics route etc.).
City tubular type logistics transportation method, comprises the following steps：
Step 1：Scan entrucking；
In terminal, it is loaded into after goods is scanned on logistic car；Goods entrucking information after scanning upload to monitoring and
Control centre；
Step 2：Cargo transport；
Logistic car is according to the path planned in advance, by goods handling to another terminal；
Step 3：Unloading scanning；
After logistic car reaches another terminal, unloaded, and the goods to unloading is scanned, and by after scanning
Goods entrucking information upload to monitoring and control centre.
The terminal is purpose terminal or relaying terminal；Target terminal refers to that goods need not after reaching the terminal
Further tubular type transport is carried out again, i.e. the terminal is the final terminal station of the shipments；Relaying terminal refers at this
Terminal needs another logistic car to get to purpose terminal by rail transport at least once again.
Each terminal is provided with the sorting device for being used for sorting goods.
Unloading in step 3 refers to unload part or all of goods.If whole goods are all the goods for reaching this terminal
Thing, then entire cargo is unloaded, otherwise unload partial cargo, remaining goods is unloaded in follow-up terminal.
Terminal is provided with the warehouse for being used for storing goods.
Terminal, which is provided with, to be used for the hoisting mechanism (freight lift or conveyer belt etc.) of goods handling to earth station.
Terminal is provided with the maintenance shop for being used for safeguarding freight.
Scanning information is sent to Cloud Server by monitoring and control centre in real time.
Each logistic car is run in predetermined speed range.Predetermined speed range is the vehicle speed range that logistic car more saves.Base
In the cargo dead-weight of logistic car, the velocity interval obtained beforehand through many experiments, this is normal transport pattern, in special transport mould
Formula, it may be considered that accelerate transport or slow traffic, as logistics capacity it is big when, sacrifice energy-saving effect, increase efficiency, or in density of dispatching a car
When big, efficiency is sacrificed, is guaranteed safety.
Each logistic car is by monitoring and control centre's unified monitoring and scheduling.Monitoring and control centre are according to default service chart
Or default combustion adjustment mechanism is run and dispatched.
Referring to Fig. 2, for the safety control system of tubular type logistics system, including monitoring and control centre, monitoring and scheduling
Center communicates to connect with the logistic car for running in orbit or resting in terminal；Monitoring and control centre are with being arranged in track
On the communication connection of branch switching mechanism；
Each logistic car has a locating module and a unique ID number；
Each branch's switching mechanism has a unique ID number；
Monitoring and control centre are responsible for monitoring the real time position and real time execution speed of logistic car；
Monitoring and control centre are by controlling branch's switching mechanism and controlling the velocity interpolation of logistic car to logistic car
Scheduling.
Monitoring and control centre monitor the spacing between a logistic car and adjacent front and rear car in real time, are preset if spacing is less than
It is worth (such as 100m), then (control measure accelerate including front truck, and rear car is slowed down, or rear car is directly stopped if necessary for acquisition control measure
Car；Or shunted a wherein car at switching mechanism) spacing between two cars of increase, to avoid the generation of front and rear logistic car
Collision.
Monitoring and control centre monitor the distance between a logistic car and the nearest branch's switching mechanism in front, mistake in real time
Also branch's switching mechanism still without success lane change, then controls branch's switching mechanism lane change in front of (such as 200m) in default distance
While, also control described logistic car to slow down, stop if necessary, cause equipment to damage to avoid direct logistic car from directly rushing card
It is bad.
Logistic car passes through the wireless communication link in pipeline or the power line by being contacted with pantograph and monitoring and scheduling
Center to center communications.
Branch's switching mechanism communicates by the wireless communication link in pipeline or by power line with monitoring and control centre.
Logistic car is provided with locating module and velocity measuring module.
Monitoring and control centre are connected with server, and remote terminal access accesses server and can realized in monitoring and scheduling
The remote control of the heart.
Monitoring and control centre are work station.
All there is drive mechanism at the both ends of described logistic car.Described track is circular orbit or tree-like branch's track.
A kind of method of controlling security for tubular type logistics system, controlled using the safety for being previously described for tubular type logistics system
System processed；Realized by monitoring and control centre and each vehicle and branch are monitored, including herein below：
(1) logistic car is controlled to be advanced by predetermined operating path；
(2) position of each logistic car is monitored；And monitor the speed of service of each logistic car and the spacing of adjacent streams car, car
During away from less than predetermined value, start alarm；And reduce the speed in rear logistic car；
(3) state of each branch is monitored；
(4) status of backup battery of each logistic car is monitored.
Such as Fig. 3-5, a kind of loop track for tubular type logistics system, including multiple terminals and be laid on it is more in pipeline
Bar track；
Described track is used to carry the logistic car for being used for transporting goods；Logistic car is used to transport goods from a terminal
It is defeated to arrive another terminal；
Terminal includes trunk terminal 11；Track includes outer shroud arterial highway 13；Outer shroud arterial highway is used to connect in adjacent trunk
Turn station；
All outer shroud arterial highways form loop track.
The track of described adjacent 2 terminals is multiple road；Described multiple road refer to before at least one to track and
An at least reverse track.
Terminal also includes being arranged on terminal 12 in the ring in the region that loop track surrounds；In ring terminal with least
Inline track 15 is provided between 2 trunk terminals.
Track also includes bend 14；Bend is arranged between inline track and inline track, for around terminal in ring；
Bend is additionally arranged between inline track and outer shroud arterial highway, for provided with around trunk terminal；The friendship of bend and inline track
At remittance and the intersection of bend and outer shroud arterial highway is equipped with branch's switching mechanism 16.
Branch's switching mechanism has communication module；Communication module is used for monitoring host computer and for being communicated with logistic car.
Track is magnetic-levitation；Or track is contact rail.
There is supply lines above track；By current-collecting device, the power taking from supply lines is used to drive logistic car logistic car.
Logistic car also obtains control signal from supply lines.Referring to power line (Homeplug) communication technology.
There is the electrokinetic cell for being used for driving logistic car to walk in logistic car.
Outer shroud arterial highway or inline track are provided with secondary terminal 17.Length or logistics heat according to terminal standoff distance
Click through the arrangement of places level terminal.0, one or more secondary transfers can be provided with one outer shroud arterial highway or inline track
Stand.Terminal also includes being arranged on end terminal 18 or outside region in the region that loop track surrounds in, end terminal and
Remaining at least one terminal is connected by track.
Terminal is provided with communication module；Communication module is used for monitoring host computer and for being communicated with logistic car.
Such as Fig. 6-8, a kind of tree-shaped track for tubular type logistics system, including multiple terminals and be laid on it is more in pipeline
Bar track；
Described track is used to carry the logistic car for being used for transporting goods；Logistic car is used to transport goods from a terminal
It is defeated to arrive another terminal；
Terminal includes multiple trunk terminals 11；Track includes trunk rail 19；Trunk rail is used to connect adjacent main
Dry terminal；
All trunk rails form the main line track of linear non-close.
The track of described adjacent 2 terminals is multiple road；Described multiple road refer to before at least one to track and
An at least reverse track.
Terminal also includes end terminal 18；Track also includes branch's track；End terminal passes through described branch
Track is connected with trunk terminal so that branch's track is linked into main line track.
Terminal also includes secondary terminal 17；Secondary terminal is connected by branch's track with end terminal.
One end terminal is nearby provided with multiple secondary terminals；Multiple secondary terminals respectively pass through branch's track
It is connected with end terminal --- i.e. star-like connected mode is connected.
Track includes circular orbit 21；One end terminal is nearby provided with multiple secondary terminals；Multiple secondary transfers
Stand and end terminal is sequentially connected to form loop track by described circular orbit；Loop track is connect by end terminal
Enter in branch's track --- connected using ring-like connected mode.
Track also includes bend 14；Bend is arranged between trunk rail and branch's track, for around trunk terminal；
The intersection and bend of bend and trunk rail and the intersection of branch's track are equipped with branch's switching mechanism 16.
Track also includes bend 14；Bend is arranged between branch's track and secondary terminal, for around end transfer
Stand；The intersection of bend and branch's track is provided with branch's switching mechanism (16).
Branch's switching mechanism has communication module；Communication module is used for monitoring host computer and for being communicated with logistic car.
Terminal is provided with communication module；Communication module is used for monitoring host computer and for being communicated with logistic car.
Terminal is provided with communication module.
Track is magnetic-levitation；Or track is contact rail.
There is supply lines above track；By current-collecting device, the power taking from supply lines is used to drive logistic car logistic car.
Logistic car also obtains control signal from supply lines.Referring to power line (Homeplug) communication technology.
There is the electrokinetic cell for being used for driving logistic car to walk in logistic car.
Such as Fig. 9-11, for the logistic car of tubular type logistics system, including car body, running gear, communication system and power taking system
System；Car body is provided with controller；
Running gear is used to drive car body to walk, and communication system is used for logistic car and communicated with the monitoring system of outside；
Electricity getting system is used to obtain electric energy to drive running gear；
The storing bin of storage goods is provided with car body.
Described running gear is running gear system or magnetic suspension running gear；Running gear includes multiple road wheels 31
With the drive mechanism for driving the road wheel；Multiple road wheels are arranged on vehicle bottom, and described road wheel can be along default
Track 35 walk.
Electricity getting system is the pantograph 33 for the power line power taking from car body top.
Described communication system is wired communication system or wireless communication system.
Described wired communication system is the power carrier communication system based on the power line.It can use electric power
Cat, or if power line is DC transmission line, then digital transmission signal can be loaded on DC transmission line.
Described wireless communication system is the communication system based on ZigBee or the communication system based on 2G, 3G, 4G or 5G.
Preferably, to avoid signal weak, every fixed position arrangement repeater as signal terminal in pipeline.
The front end or rear end of car body are provided with avoidance mechanism 32；Described avoidance mechanism is whether to detect car body front or behind
There is obstacle；The signal of detection is sent to the controller on car body by avoidance mechanism.Avoidance mechanism is ultrasonic listening mechanism or swashed
Flash ranging spacing mechanism.
The front end or rear end of car body are provided with buffer gear；Buffer gear is used to weaken the damage that car body comes with foreign object collision belt
Evil.Buffer gear is spring mechanism, or by foam or spongiotic buffer gear.
Reserve battery is provided with car body.The effect of reserve battery is, once bow failure, can drive by reserve battery
Car body is along track travel to a nearest terminal or maintenance station.
Storing bin is isolated into multiple compartments by multiple dividing plates.
Dividing plate can flexibly change position, so as to form multiple compartments of different sizes；Each compartment can be placed at least
One pouch, each pouch are provided with label (bar code or Quick Response Code, or RFID label tag), in terminal, open lid
Or after side door, manipulator or it can manually take out one or more of pouch.
In addition, car body is provided with the cover plate or side door for being used for opening storing bin.
Also detection module, including velocity measuring, acceleration detection, battery capacity detection；
Also include locating module on logistic car；Locating module is GPS or the Big Dipper or the positioning based on route and speed.Such as
The website passed through recently positions plus track route and apart from realizing.
Car body operates in unmanned pattern.
A kind of paths planning method for tubular type logistics system, comprise the following steps：
Step 1：Primarily determine that a plurality of alternative path；
Step 2：For every paths, consider the path length of the paths or it is expected that spend the time to select Yi Tiaolu
Footpath；
Described path is the path that logistic car is advanced in orbit；Each paths include an at least terminal path, often
One single sub path connects two adjacent websites.
Described path is the path of loop track or tree-shaped track.
In step 2, to spend time most short determination path.
In step 2, path is determined with shortest path.
In step 2, consider and spend time and path length, determine path.
Judging quota is J；J=k1*T+k2*L；
K1 is time weighting, and k2 is distance weight；K1 and k2 span is 0~1, and has k1+k2=1；
T be based on a certain path from origin to destination between total duration；
L be based on a certain path from origin to destination between total distance；
For mulitpath, the judging quota J of each paths is calculated；Determined using path corresponding to J minimum values to be final
Path.
Do not consider jam situation, have：
(1)tiFor by i-th section of path run time of predetermined speed；
(2)liFor the distance in i-th section of path.
Consider congestion coefficient, have：
(1)biFor congestion coefficient；tiFor by i-th section of path run time of predetermined speed；
(2)liFor the distance in i-th section of path.
Congestion coefficient is analyzed according to big data, each period, the vehicle average speed in this section of pathWith specified speed
Spend vi0Ratio；I.e.
Vehicle average speedFor the congestion rate of nearest 1 day period, or nearest 5 days, corresponding period of 10 days is averaged
Speed-correspondence period, refer to be divided into multiple periods by one day, such as per one period of half an hour.
Claims (10)
- A kind of 1. safety control system for tubular type logistics system, it is characterised in that including monitoring and control centre, monitoring and Control centre communicates to connect with the logistic car for running in orbit or resting in terminal；Monitoring and control centre are with being arranged in Branch's switching mechanism communication connection on track；Each logistic car has a locating module and a unique ID number；Each branch's switching mechanism has a unique ID number；Monitoring and control centre are responsible for monitoring the real time position and real time execution speed of logistic car；Monitoring and control centre are by controlling branch's switching mechanism and controlling scheduling of the velocity interpolation of logistic car to logistic car.
- 2. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that monitoring and scheduling Center monitors the spacing between a logistic car and adjacent front and rear car in real time, if spacing is less than preset value (such as 100m), gathers (control measure accelerate control measure including front truck, and rear car is slowed down, or rear car is directly stopped if necessary；Or will a wherein car Shunted at switching mechanism) increase by two cars between spacing, to avoid front and rear logistic car from colliding.
- 3. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that monitoring and scheduling Center monitors the distance between a logistic car and the nearest branch's switching mechanism in front in real time, crosses in default distance (such as 200m) front also branch's switching mechanism still without success lane change, then control branch's switching mechanism lane change while, also control described in Logistic car slow down, stop if necessary, device damage caused to avoid direct logistic car from directly rushing card.
- 4. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that logistic car passes through Wireless communication link in pipeline or the power line by being contacted with pantograph communicate with monitoring and control centre.
- 5. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that branch's switching machine Structure communicates by the wireless communication link in pipeline or by power line with monitoring and control centre.
- 6. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that set on logistic car There are locating module and velocity measuring module.
- 7. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that monitoring and scheduling Center is connected with server, and remote terminal access access server can realize the remote control to monitoring and control centre.
- 8. the safety control system according to claim 1 for tubular type logistics system, it is characterised in that monitoring and scheduling Center is work station.
- 9. the safety control system for tubular type logistics system according to claim any one of 1-8, it is characterised in that institute All there is drive mechanism at the both ends for the logistic car stated.
- 10. a kind of method of controlling security for tubular type logistics system, it is characterised in that using being used for described in claim 9 The safety control system of tubular type logistics system；Realized by monitoring and control centre and each vehicle and branch are monitored, wrapped Include herein below：(1) logistic car is controlled to be advanced by predetermined operating path；(2) position of each logistic car is monitored；And the speed of service of each logistic car and the spacing of adjacent streams car are monitored, spacing is small When predetermined value, start alarm；And reduce the speed in rear logistic car；(3) state of each branch is monitored；(4) status of backup battery of each logistic car is monitored.
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| CN112875192B (en) * | 2021-02-01 | 2023-02-21 | 济南市市政工程设计研究院（集团）有限责任公司 | Intelligent pipe gallery logistics method and system |
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| CN107741736B (en) | 2021-03-12 |
| CN112269358B (en) | 2022-08-26 |
| CN112269358A (en) | 2021-01-26 |
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