CN102069827B - Dispatching method and system for multiple trolley tracks - Google Patents
Dispatching method and system for multiple trolley tracks Download PDFInfo
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- CN102069827B CN102069827B CN2010106098039A CN201010609803A CN102069827B CN 102069827 B CN102069827 B CN 102069827B CN 2010106098039 A CN2010106098039 A CN 2010106098039A CN 201010609803 A CN201010609803 A CN 201010609803A CN 102069827 B CN102069827 B CN 102069827B
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Abstract
The invention discloses a dispatching method and a dispatching system for multiple trolley tracks. The dispatching system comprises a dispatching center processing module and a plurality of trolley terminal processing modules, wherein the dispatching center processing module comprises a dispatching processor and a first wireless communication unit; each trolley terminal processing module comprises a positioning point detection unit, a trolley status switching unit and a second wireless communication unit; the first wireless communication unit of the dispatching center processing module and the second wireless communication units of the plurality of trolley terminal processing modules form a wireless communication network; the positioning point detection unit detects the positions of trolleys and reports detection results to the dispatching center processing module through the wireless communication unit network; after receiving position signals of the trolleys, the dispatching center processing module sends a control instruction to trolley status switching modules; and the trolley status switching modules switch the trolleys among a station dispatching status, an exhibition area dispatching status and a parking dispatching status according to the control instruction.
Description
Technical field
The present invention relates to the large-scale item of recreation in theme park, relate in particular to many trolley track dispatching methods of a kind of annular rail class and system.
Background technology
In the large-sized annular rail class dolly project of present theme park, like roller-coaster etc., great majority are separate track separate unit trolley travelling patterns; Even what have has gone up a plurality of dollies, when operation also only on a dolly, remaining dolly is all in the district that waits; Pure PLC of employing or Single-chip Controlling mode are gone up in this scheme control more, only control starting point and terminal point, in the trolley travelling process, can't dynamically intervene; Adjustment action in real time can only cause running efficiency of system low by the simple motion operation of planning in advance like this; Project reception number every day is obviously less than normal with respect to the scale of theme park admission number, causes the tourist experience effect to have a greatly reduced quality.
Chinese invention patent number is: " ZL 200610061151.3 "; Name is called: disclose a kind of method and system of vehicle scheduling in the patent application document of " a kind of vehicle dispatching method and system ", this method comprises: the vehicle that car transfer center is confirmed to meet said dispatching requirement information characteristics key element according to dispatching requirement information is as basic transfer subject; Car transfer center is according to the selected corresponding scheduling strategy of said dispatching requirement information, and the said scheduling strategy of foundation sends basic schedule information to said basic transfer subject; Car transfer center is sent detailed schedule information to said member after the positive response of the member who receives said basic transfer subject for said basic schedule information.Vehicle dispatch system of the present invention comprises car transfer center, information acquisition and feedback platform and car wireless terminal.This patent makes car transfer center adopt different scheduling strategies according to different dispatching requirement, reduces the information traffic volume when can improve dispatching efficiency, scheduling flow is rationalized more and standardizes.
Large-sized annular rail class dolly project has the specific environment of annular rail, above-mentioned patent is applied directly to annular rail class dolly project is not easy to realize, and satisfied not the particular demands of large-sized annular rail class dolly project.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of many trolley track dispatching methods and system; Can satisfy the particular demands of large-sized annular rail class dolly project; Automatically the operation of a plurality of dollies of scheduling on rail, and guarantee the safety distance between car and the car.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of many trolley track dispatching systems are provided, comprise control center's processing module and a plurality of dolly terminal processing module; Control center's processing module comprises the dispatch processor and first wireless communication unit; Each dolly terminal processing module includes locating point detecting unit, dolly state switch unit and second wireless communication unit; First wireless communication unit of control center's processing module and second wireless communication unit of a plurality of dolly terminal processing modules are formed cordless communication network; Said locating point detecting unit detects the dolly position; And testing result is reported to control center's processing module through the wireless communication unit network; After control center's processing module is received the dolly position signal; Sending controling instruction is to dolly state handover module, and dolly state handover module switches under platform dispatch state, exhibition section dispatch state and parking dispatch state according to control command.
Wherein, said control center processing module comprises further and is used to adjust the remote anti-collision unit that keeps a safe distance between the dolly that said remote anti-collision unit and locating point detecting unit communicate, and confirm the position of dolly in real time.
Wherein, Said each dolly terminal processing module further comprises script point detecting unit and script executing unit; Script point detecting unit detects the dolly position and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
Wherein, said dispatch processor is micro controller system, PLC controller or computer server.
Wherein, the cordless communication network of said first wireless communication unit and second wireless communication unit composition is WIFI network, blueteeth network or GPRS network.
For solving the problems of the technologies described above, another technical scheme that the present invention adopts is: a kind of many trolley track dispatching methods are provided, may further comprise the steps:
A. control center's processing module and a plurality of dolly terminal processing module are formed cordless communication network and swap data;
B. the dolly terminal processing module detects the dolly position and position data is reported control center's processing module through cordless communication network and handles, and control center's processing module is passed through the cordless communication network sending controling instruction according to the position of dolly;
C. the dolly terminal processing module switches under platform dispatch state, exhibition section dispatch state and parking dispatch state according to the control command of control center's processing module.
Wherein, said method comprises also and is used to adjust the step that keeps a safe distance between the dolly that in this step, remote anti-collision unit communicates with the locating point detecting unit, in real time the position of definite dolly.
Wherein, After said step c; The step that also comprises the script operation, the step of said script operation is: script point detecting unit detects the dolly position and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
Wherein, the dispatch processor in the said control center processing module is micro controller system, PLC controller or computer server.
Wherein, the cordless communication network of said control center's processing module and dolly terminal processing module composition is WIFI network, blueteeth network or GPRS network.
The invention has the beneficial effects as follows: the separate unit trolley travelling pattern that is different from prior art; Can not satisfy the defective that theme park visit number increases; The present invention is through a plurality of dolly terminal processing modules of radio communication and the data interaction between control center's processing module; And make dolly under platform dispatch state, exhibition section dispatch state and parking dispatch state, switch, dispatch the operation of a plurality of dollies on rail automatically.
Further, processing module is provided with remote anti-collision unit in the control center, guarantees the safety distance between car and the car.
Further, the script point according to locating point is provided with detects the dolly position through script point detecting unit and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
Description of drawings
Fig. 1 is the block diagram of many trolley track dispatching systems of the present invention embodiment;
Fig. 2 is the flow chart of steps of many trolley track dispatching methods of the present invention embodiment;
Fig. 3 is many trolley track dispatching systems of a present invention embodiment state evolution scheme drawing;
Fig. 4 is many trolley track dispatching systems of the present invention embodiment scheduler program diagram of circuit that stops;
Fig. 5 is many trolley track dispatching systems of a present invention embodiment exhibition section scheduler program diagram of circuit;
Fig. 6 is many trolley track dispatching systems of a present invention embodiment platform scheduler program diagram of circuit.
The specific embodiment
By specifying technology contents of the present invention, structural attitude, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
See also Fig. 1, many trolley track dispatching systems of the present invention comprise control center's processing module 10 and dolly terminal processing module 20, and dolly terminal processing module 21; Control center's processing module 10 comprises the dispatch processor 101 and first wireless communication unit 102; Dolly terminal processing module 20 comprises locating point detecting unit 201, dolly state switch unit 203 and second wireless communication unit 202; Dolly terminal processing module 21 comprises locating point detecting unit 211, dolly state switch unit 213 and second wireless communication unit 212; First wireless communication unit 102 of control center's processing module 10 and second wireless communication unit 202 of dolly terminal processing module 20, and second wireless communication unit 212 of dolly terminal processing module 21 is formed cordless communication network; Locating point detecting unit 201 detects each self-corresponding dolly position respectively with locating point detecting unit 211; And testing result is reported to control center's processing module 10 through the wireless communication unit network; After control center's processing module 10 is received the dolly position signal; Sending controling instruction is to dolly state handover module 20 or dolly state handover module 21, and dolly state handover module 203 or dolly state handover module 213 switch under platform dispatch state, exhibition section dispatch state and parking dispatch state according to control command.
The present invention is through a plurality of dolly terminal processing modules of radio communication and the data interaction between control center's processing module; And make dolly under platform dispatch state, exhibition section dispatch state and parking dispatch state, switch, dispatch the operation of a plurality of dollies on rail automatically.
In one embodiment, said control center processing module comprises further and is used to adjust the remote anti-collision unit that keeps a safe distance between the dolly that said remote anti-collision unit and locating point detecting unit communicate, and confirm the position of dolly in real time.Processing module is provided with remote anti-collision unit in the control center, guarantees the safety distance between car and the car.
In one embodiment; Said each dolly terminal processing module further comprises script point detecting unit and script executing unit; Script point detecting unit detects the dolly position and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.Script point according to locating point is provided with detects the dolly position through script point detecting unit and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
In one embodiment, said dispatch processor is micro controller system, PLC controller or computer server.Dispatch processor is a kind of Intelligent treatment device, through the control thought of programmer, fixing control program is written to during the processing inner, when program is carried out, accomplishes specific processing and moves.
In one embodiment, the cordless communication network of said first wireless communication unit and second wireless communication unit composition is WIFI network, blueteeth network or GPRS network.Cordless communication network only is a kind of media of switched wireless data, and existing cordless communication network is except above-mentioned several kinds, also has a lot of other cordless communication networks, like cell phone network, purple honeybee communication network, 3G cordless communication network or the like.
Referring to Fig. 2, many trolley track dispatching methods of the present invention may further comprise the steps:
A. control center's processing module and a plurality of dolly terminal processing module are formed cordless communication network and swap data;
B. the dolly terminal processing module detects the dolly position and position data is reported control center's processing module through cordless communication network and handles, and control center's processing module is passed through the cordless communication network sending controling instruction according to the position of dolly;
C. the dolly terminal processing module switches under platform dispatch state, exhibition section dispatch state and parking dispatch state according to the control command of control center's processing module.
The present invention is through a plurality of dolly terminal processing modules of radio communication and the data interaction between control center's processing module; And make dolly under platform dispatch state, exhibition section dispatch state and parking dispatch state, switch, dispatch the operation of a plurality of dollies on rail automatically.
In one embodiment, said method comprises also and is used to adjust the step that keeps a safe distance between the dolly that in this step, remote anti-collision unit communicates with the locating point detecting unit, in real time the position of definite dolly.Processing module is provided with remote anti-collision unit in the control center, guarantees the safety distance between car and the car.
In one embodiment; After said step c; The step that also comprises the script operation; The step of said script operation is: script point detecting unit detects the dolly position and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.Script point according to locating point is provided with detects the dolly position through script point detecting unit and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
In one embodiment, said dispatch processor is micro controller system, PLC controller or computer server.Dispatch processor is a kind of Intelligent treatment device, through the control thought of programmer, fixing control program is written to during the processing inner, when program is carried out, accomplishes specific processing and moves.
In one embodiment, the cordless communication network of said first wireless communication unit and second wireless communication unit composition is WIFI network, blueteeth network or GPRS network.Cordless communication network only is a kind of media of switched wireless data, and existing cordless communication network is except above-mentioned several kinds, also has a lot of other cordless communication networks, like cell phone network, purple honeybee communication network, 3G cordless communication network or the like.
Application below in conjunction with many trolley track dispatching systems is done further to specify to technical characterictic of the present invention:
Many dolly remote auto scheduling are mainly to depend on the mutual realization of dolly software and general control software, and this point also is the key distinction of dispatching system of the present invention and existing dispatching system.Many trolley track dispatching systems of the present invention mainly comprise the content of three parts: the first, the dynamic division in trolley travelling zone; The second, the realization of dolly state switching; The 3rd, the realization of total control scheduling.
The first, the dynamic division in trolley travelling zone
With the virtual division of orbital position visit exhibition section and two types of stop placees, the excursion district can have a plurality of, and does not rely on the number (but for simple excursion district sum can directly equal the vehicle number) of car, and the stop place number generally is greater than the cart number of reality.
The length of visit exhibition section generally can be obtained through following formula: (track length overall-platform district length overall)/excursion district sum, single parking burst length generally are greater than the closely crash-proof distance of bodywork length+cause.
The employing segmentation control of turn-key system will guarantee that in control each can only have a dolly in interval.
The second, the realization of dolly state switching
There were following three kinds of states in the position when dolly orbited: 1. the operation of 3. platform districts is moved in unknown 2. excursion districts, position, is exactly the automatic circulation switching to three kinds of states to its essence of dolly scheduling, and dolly state evolution scheme drawing is shown in accompanying drawing 3.
The switching of dolly state is that the state machine through Control Software switches and realizes.
When system brings into operation, many dollies power on, after the dolly PC self-starting; The dolly Control Software can't be obtained dolly at present with respect to the position of system; Have only through after system's initial point detection signal, just can know actual position, we obtain dolly the stage called after initial phase of location information; Its purpose is to let each dolly Control Software know the dolly self-position, thereby lets general control software know the position relation of all cars on the current track.Its basic control principle system timesharing (also can simultaneously) shunt slowly moves ahead, wait all cars to find the position after, total control ordering successively is transferred to the platform district of appointment with dolly, dolly switches to the platform district with state automatically, program flow diagram is shown in accompanying drawing 4:
The operation of visit exhibition section is meant that mainly dolly leaves objective point, and in the process of different virtual excursion district operation, program flow diagram is shown in accompanying drawing 5:
Platform district operation mainly is meant the front dolly after leave, and the dolly of back can move ahead from each point station automatically successively, and diagram of circuit is shown in accompanying drawing 6:
The 3rd, the realization of total control scheduling
Switch according to the dolly state, the scheduling of total control mainly comprise system initialization (looking for the position), always control the exhibition section scheduling, always control the scheduling of exhibition booth district.
Above-mentioned locating point be meant in fact can be to be detected the track cross beam count value, point station must be a locating point, it be one since 1 numeral number, depend on the initial point actual position and virtual appointment; Such as DINO CRISIS 590 crossbeams are arranged, I can specify 580 to be to go up objective point (special point station), and the 530th, drop-off point, middle 540; 550,560,570th, the parking holding point of dolly can be put 4 cars; Can behind drop-off point, specify 520,510,500 3 parking holding points equally.
Above-mentioned script point is meant the trigger point of doing acceleration and deceleration, rotation, pitching, broadcast dolly sound; It is to depend on locating point, is generated by the system script editor software, such as arriving the 10th crossbeam position; Revolved three-sixth turn on the 0th second; Play one section commentary on the 1st second, this is exactly the script action, and locating point 10 (1 track cross beam number) is exactly a script point.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. one kind many trolley track dispatching systems is characterized in that: comprise control center's processing module and a plurality of dolly terminal processing module;
Control center's processing module comprises the dispatch processor and first wireless communication unit; Each dolly terminal processing module includes locating point detecting unit, dolly state switch unit and second wireless communication unit; First wireless communication unit of control center's processing module and second wireless communication unit of a plurality of dolly terminal processing modules are formed cordless communication network;
Said locating point detecting unit detects the dolly position; And testing result is reported to control center's processing module through the wireless communication unit network; After control center's processing module is received the dolly position signal; Sending controling instruction is to dolly state handover module, and dolly state handover module switches under platform dispatch state, exhibition section dispatch state and parking dispatch state according to control command.
2. many trolley track dispatching systems according to claim 1; It is characterized in that: said control center processing module further comprises and is used to adjust the remote anti-collision unit that keeps a safe distance between the dolly; Said remote anti-collision unit and locating point detecting unit communicate, and confirm the position of dolly in real time.
3. many trolley track dispatching systems according to claim 1; It is characterized in that: said each dolly terminal processing module further comprises script point detecting unit and script executing unit; Script point detecting unit detects the dolly position and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
4. many trolley track dispatching systems according to claim 1 is characterized in that: said dispatch processor is micro controller system, PLC controller or computer server.
5. many trolley track dispatching systems according to claim 1 is characterized in that: the cordless communication network that said first wireless communication unit and second wireless communication unit are formed is WIFI network, blueteeth network or GPRS network.
6. one kind many trolley track dispatching methods is characterized in that, may further comprise the steps:
A. control center's processing module and a plurality of dolly terminal processing module are formed cordless communication network and swap data;
B. the dolly terminal processing module detects the dolly position and position data is reported control center's processing module through cordless communication network and handles, and control center's processing module is passed through the cordless communication network sending controling instruction according to the position of dolly;
C. the dolly terminal processing module switches under platform dispatch state, exhibition section dispatch state and parking dispatch state according to the control command of control center's processing module.
7. many trolley track dispatching methods according to claim 6; It is characterized in that: said method also comprises and is used to adjust the step that keeps a safe distance between the dolly; In this step, remote anti-collision unit and locating point detecting unit communicate, and confirm the position of dolly in real time.
8. many trolley track dispatching methods according to claim 6 is characterized in that: after said step c, also comprise the step of script operation, the step of said script operation is:
Script point detecting unit detects the dolly position and whether passes through the script point, and dolly then triggers the action that script executing unit is done acceleration and deceleration, rotation, pitching or played sound through script point.
9. many trolley track dispatching methods according to claim 6 is characterized in that: the dispatch processor in the said control center processing module is micro controller system, PLC controller or computer server.
10. many trolley track dispatching methods according to claim 6 is characterized in that: the cordless communication network that said control center processing module and dolly terminal processing module are formed is WIFI network, blueteeth network or GPRS network.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103425128A (en) * | 2013-07-26 | 2013-12-04 | 广西曼彻彼斯自动化设备有限公司 | Intelligent logistics track car security system |
| CN104007764A (en) * | 2014-06-13 | 2014-08-27 | 苏州工业园区艾吉威自动化设备有限公司 | Agv dispatching system |
| CN109964192B (en) * | 2016-12-19 | 2022-11-01 | 株式会社久保田 | Automatic traveling system of working vehicle |
| CN109532955B (en) * | 2017-09-22 | 2021-05-04 | 中车唐山机车车辆有限公司 | Micro-rail scheduling control method and system |
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Address after: 518057 the 13 layer of Huaqiang hi tech development building, Nanshan District science and technology center, Shenzhen, Guangdong. Patentee after: Huaqiang infante (Shenzhen) Intelligent Technology Co. Address before: 518057 the 13 layer of Huaqiang hi tech development building, Nanshan District science and technology center, Shenzhen, Guangdong. Patentee before: Shenzhen Huaqiang Intelligent Technology Co., Ltd. |