CN107600935B - Logistics vehicle for tubular logistics system - Google Patents
Logistics vehicle for tubular logistics system Download PDFInfo
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Abstract
The invention discloses a logistics vehicle for a tubular logistics system, which comprises a vehicle body, a traveling system, a communication system and an electricity taking system, wherein the traveling system is connected with the vehicle body; the vehicle body is provided with a controller; the traveling system is used for driving the vehicle body to travel, 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 traveling system; the vehicle body is internally provided with a storage bin for storing goods. The traveling system is a wheel type traveling system or a magnetic suspension traveling system; the traveling system comprises a plurality of traveling wheels (31) and a driving mechanism for driving the traveling wheels; the plurality of travelling wheels are arranged at the bottom of the vehicle body and can travel along a preset track (35). The logistics vehicle for the tubular logistics system is compact in structure, easy to implement and high in automation degree.
Description
Technical Field
The invention relates to a logistics vehicle for a tubular logistics system.
Background
The existing logistics vehicles are generally refitted from automobiles and are generally transported on roads, and because the tubular logistics net vehicle needs to run in a pipeline, a brand new logistics vehicle is needed to be designed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the logistics vehicle for the tubular logistics system, which has the advantages of compact structure, easy implementation and high automation degree.
The technical proposal of the invention is as follows:
the logistics vehicle for the tubular logistics system is characterized by comprising a vehicle body, a traveling system, a communication system and an electricity taking system; the vehicle body is provided with a controller;
The traveling system is used for driving the vehicle body to travel, 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 traveling system;
The vehicle body is internally provided with a storage bin for storing goods.
The traveling system is a wheel type traveling system or a magnetic suspension traveling system; the traveling system comprises a plurality of traveling wheels and a driving mechanism for driving the traveling wheels; the walking wheels are arranged at the bottom of the vehicle body and can walk along a preset track.
The power taking system is a pantograph for taking power from a power line at 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 carrier communication system based on the power line. It may employ a power cat or if the power line is a dc power line, a digital transmission signal may 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 signal weakness, repeater stations are arranged as signal transfer stations at fixed locations within the pipe.
The front end or the rear end of the vehicle body is provided with an obstacle avoidance mechanism; the obstacle avoidance mechanism is used for detecting whether an obstacle exists in front of or behind a vehicle body; the obstacle avoidance mechanism transmits 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 between the vehicle body and a foreign object. The cushioning mechanism is a spring mechanism or a cushioning mechanism formed of foam or sponge.
A standby battery is arranged in the vehicle body. The backup battery has the function of driving the vehicle body to travel along the track to the nearest transfer station or maintenance station by means of the backup battery in case of a failure of the pantograph.
The storage bin is separated into a plurality of compartments by a plurality of partitions.
The partition board can flexibly change the position, so that a plurality of compartments with different sizes can be formed; each compartment can be provided with at least one storage bag, each storage bag is provided with a label (bar code or two-dimensional code or RFID label), and after the cover or the side door is opened at the transfer station, one or more storage bags can be taken out by a manipulator or a person.
In addition, the car body is provided with a cover plate or a side door for opening the storage bin.
The beneficial effects are that:
The logistics vehicle adopts an unmanned mode, can run at a preset speed, can automatically adjust the running speed under the control of the monitoring and dispatching center, and is further provided with the safety guarantee device based on the obstacle avoidance mechanism, the buffer mechanism and the positioning device, so that the logistics vehicle can run safely and efficiently, 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 a high-efficiency and rapid logistics transportation network is formed.
The inter-city logistics system operated by the logistics vehicle has two characteristics, namely, the inter-city transportation line can select one of a plurality of transportation modes, including a common transportation line and a tubular transportation line, and the flexibility is high; secondly, after entering a city, unmanned transportation is realized through a pipe type logistics network;
When adopting tubular transportation line and city tubular commodity circulation net, can realize whole intelligent unmanned mode, efficient, moreover, during normal operation, can not cause the commodity circulation to be unsmooth because of reasons such as traffic jam, therefore, can furthest ensure transportation efficiency to and practice thrift the transportation cost, this kind of intercity commodity circulation mode is a high intelligent modern commodity circulation 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 the safety strategy and the scheduling arrangement, so that the safety, the energy conservation and the efficiency are considered, and the comprehensive level of transportation is improved.
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 states of all branch institutions in addition, and uploads relevant state information to the server, so that the digital monitoring of the whole network without dead angles is realized.
The loop track system is suitable for square or circular urban areas; all transfer stations are communicated through the rails, the number of main roads is large, the main roads comprise middle main roads and annular main roads, and the transportation efficiency is high. In addition, at the intersection, a bend for directly bypassing the transfer station is provided, and thus, the transportation efficiency can be further improved.
The tree-shaped track system is suitable for flat urban areas; each transfer station is communicated with the branch through the main track, the main track is one, and in addition, a bend for directly bypassing the transfer station is arranged at the intersection, so that the transportation efficiency is high.
In addition, according to the shape of a specific area and the requirement of a cargo distribution place (for example, a certain position is a cargo distribution point), a secondary transfer station and a terminal transfer station can be arranged at the hot point, so that the flexibility is good, and the expansion is easy.
In summary, the tubular logistics system has simple structure, easy implementation, high digitization degree and high transportation efficiency, can realize full-automatic unmanned management, is a development direction of a future logistics network, and is suitable for popularization and implementation.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an inter-city intelligent logistics system;
FIG. 2 is a diagram of a city pipe type logistics control system;
FIG. 3 is a schematic diagram of a loop architecture city pipe logistics control system (without secondary transfer station);
FIG. 4 is a schematic diagram of a loop architecture city pipe logistics control system (with secondary transfer station);
FIG. 5 is a schematic diagram of a loop architecture city pipe logistics control system (with end transfer stations);
FIG. 6 is a schematic diagram of the basic architecture of a branched-architecture municipal pipe-type logistics control system;
FIG. 7 is a schematic diagram of a city pipe logistics control system having a branching architecture of an end transfer station;
FIG. 8 is a schematic diagram of a city pipe logistics control system having a branching architecture with circular tracks;
FIG. 9 is a schematic general structural view of the logistics vehicle;
FIG. 10 is a schematic view of a cargo compartment;
Fig. 11 is a control block diagram of the logistics vehicle.
Description of the reference numerals: 1-logistics vehicles, 11-main transfer stations, 12-in-loop transfer stations, 13-outer loop main roads, 14-bends, 15-in-loop tracks, 16-branch switching mechanisms, 17-secondary transfer stations and 18-end transfer stations.
19-Main track, 20-branch track, 21-ring track.
31-Travelling wheels, 32-obstacle avoidance mechanisms, 33-pantographs, 34-power lines, 35-tracks and 36-buffer mechanisms.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples:
Example 1:
as shown in fig. 1, the logistics vehicle runs a corresponding tubular logistics system, which comprises a cross-city transportation line arranged between different cities of a logistics area (referring to a district city or a province or a country or an area comprising a plurality of countries), and a city tubular logistics network and a logistics distribution center arranged in the different cities;
The city pipe type logistics network is also called as city pipe type logistics system; for the transportation of goods in cities (including collection of goods, transit of goods and delivery of goods);
the logistics distribution center is a connection node between the urban tubular logistics network and the cross-urban transportation line; the logistics distribution center is used for conveying cargoes in the urban tubular logistics network in the city to the cross-city transportation line and conveying cargoes from the cross-city transportation line to the urban tubular logistics network.
The inter-city logistics system also comprises a main monitoring center, and when the goods are transferred in the logistics distribution center, the information of the goods is collected and then sent to the main monitoring center.
The master monitoring center is connected with the server.
The city-crossing transportation line is a common railway transportation line, a high-speed rail transportation line, a highway transportation line, a magnetic suspension transportation line or a transportation line based on an aircraft (such as a civil air line or an unmanned aerial vehicle). The normal railway line refers to a railway transportation line having an average speed equal to or lower than 250km/h, and the high-speed railway transportation line refers to a railway transportation line having an average speed higher than 250 km/h.
The city-crossing transport line is a tubular transport line; the tubular transportation line is based on underground or overground pipelines, and transportation tracks are arranged in the pipelines.
Relay stations are arranged between adjacent cities. Generally, a relay station can be arranged when the transportation pipeline between 2 cities exceeds a preset distance, for example, the distance exceeds 50 km, 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 depending on railways, national roads or high-speed lines.
The pipe-type transportation line is arranged at the side or bottom of a railway, national road or high-speed line.
The inter-city logistics transportation method comprises the following steps: arranging city tubular logistics networks and logistics distribution centers in each city in a logistics area (referring to a district city or a province or a country or an area comprising a plurality of countries); the logistics distribution centers in different cities are connected through a city-crossing transportation line;
The city pipe type logistics network is also called as city pipe type logistics system; for the transportation of goods in cities (including collection of goods, transit of goods and delivery of goods);
the logistics distribution center is a connection node between the urban tubular logistics network and the cross-urban transportation line;
based on the demand of intercity logistics, under the scheduling and control of a main monitoring center:
Goods to be inter-city transported in the city tubular logistics network in the city j are firstly sent to the logistics distribution center of the city j, then transported to the logistics distribution center of the city k through a cross-city transportation line between the city j and the city k, and then enter the city tubular logistics network of the city k from the logistics distribution center of the city k, so that the goods transportation between any two cities is realized;
the j city or k city is any two cities in the logistics area.
If at least one middle city is separated between the city j and the city k, the logistics distribution center passing through the middle city and the city crossing transportation line of the middle city time are transferred.
And a cargo connection channel (such as an automobile or a tubular transportation line) is 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 urban (or urban) pipe-type logistics system comprises a monitoring and dispatching center, a track, a transfer station, logistics vehicles and a branch switching mechanism;
The monitoring and dispatching center is used for (1) monitoring the state, the position and the action of each logistics vehicle, (2) monitoring the state and the action of the branch switching mechanism and (3) monitoring the circulation state of goods;
The track is a tubular track; the track is the travelling 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 track; the branch mechanism is used for switching the track under the control of the monitoring function and the dispatching center so as to control the logistics vehicle to selectively enter the next track section;
the number of the logistics vehicles is multiple; for carrying and transporting goods; the goods are provided with labels; the goods are a package (including box type packages and file bags or soft goods bags) or a transport bag comprising a plurality of packages, and the transport bag is generally at the same place of departure and at the same destination;
The monitoring and dispatching center is used for planning a transportation path, controlling the logistics vehicles to run on the track based on the planned transportation path through the branch switching mechanism, and conveying the sorted goods from the origin transfer station to the destination transfer station.
The transfer station is provided with a cargo scanning device, and information scanning, namely recording, of cargoes is realized through the cargo scanning device in the loading and unloading processes.
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 a circular track or a tree-shaped branch track.
The monitoring and dispatching center is in communication connection with the transfer station, the logistics vehicle and the branch switching mechanism.
The monitoring and dispatching center is in communication connection with the cloud service center.
The track is a rail or a magnetic levitation track.
The logistics vehicle is a bidirectional power vehicle. Can reversely run without turning around, and both ends of the vehicle body are provided with independent power.
The logistics vehicle is a single-carriage or multi-carriage vehicle body.
The monitoring and dispatching center optimizes the dispatching strategy based on the operation data (namely, utilizes big data to optimize the dispatching so as to improve the efficiency, and comprises smaller departure intervals when necessary, increases the safety distance of adjacent logistics vehicles, optimizes logistics paths and the like).
The city tubular logistics transportation method comprises the following steps:
Step 1: scanning and loading;
In the transfer station, the goods are loaded on a logistics vehicle after being scanned; uploading scanned cargo loading information to a monitoring and dispatching center;
Step 2: transporting goods;
The logistics vehicle conveys goods to another transfer station according to a pre-planned path;
step 3: unloading and scanning;
after the logistics vehicle arrives at the other transfer station, unloading is carried out, the unloaded goods are scanned, and scanned goods loading information is uploaded to a monitoring and dispatching center.
The transfer station is a destination transfer station or a relay transfer station; the target transfer station means that the goods do not need to be further transported in a tubular manner after arriving at the transfer station, i.e. the transfer station is the final destination station for the batch of goods; the relay transfer station means that another logistics vehicle is required to pass through at least one track transportation in the transfer station to reach the target transfer station.
Each transfer station is provided with sorting equipment for sorting the goods.
The unloading in step3 means that part or all of the cargo is unloaded. If all the cargoes reach the cargoes of the transfer station, unloading all the cargoes, otherwise, unloading part of the cargoes, and unloading the rest cargoes in 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 elevator or conveyor belt, etc.) for transporting the cargo to the ground station.
The transfer station is provided with a maintenance shop for maintaining the freight car.
And the monitoring and dispatching center transmits the scanning information to the cloud server in real time.
Each logistics vehicle operates in a predetermined speed range. The preset speed range is a vehicle speed range in which the logistics vehicle is energy-saving. Based on the cargo carrying 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, the acceleration transportation or the slow transportation can be considered, for example, when the mass 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 ensured.
And each logistics vehicle is monitored and scheduled uniformly by a monitoring and scheduling center. The monitoring and dispatching center operates and dispatches according to a preset operation chart or a preset operation adjustment mechanism.
Referring to fig. 2, a safety control system for a tubular logistics system includes a monitoring and scheduling center in communication with a logistics vehicle running on a track or residing in a transfer station; the monitoring and dispatching center is in communication connection with a 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 controls the branch switching mechanism and the speed of the logistics vehicle to realize dispatching of the logistics vehicle.
The monitoring and dispatching center monitors the distance between one logistics vehicle and the adjacent front and rear vehicles in real time, if the distance is smaller than a preset value (such as 100 m), the control measures (the control measures comprise acceleration of the front vehicle, deceleration of the rear vehicle or direct parking of the rear vehicle if necessary, or shunting of one of the vehicles at a switching mechanism) are collected to increase the 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 a logistics vehicle and the nearest branch switching mechanism in front in real time, if the branch switching mechanism still does not successfully change the channel before the logistics vehicle is within the preset distance (such as 200 m), the control of the branch switching mechanism changes the channel, meanwhile, the control of the logistics vehicle is also performed to reduce the speed, and if necessary, the logistics vehicle is stopped, so that equipment damage caused by direct card punching of the direct logistics vehicle is avoided.
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 dispatch center via a wireless communication link within the pipeline or via 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 workstation.
Both ends of the logistics vehicle are provided with driving mechanisms. The track is a circular track or a tree-shaped branch track.
The safety control method for the tubular logistics system adopts the safety control system for the tubular logistics system; the monitoring and dispatching center monitors the vehicles and the branch institutions, 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; the running speed of each logistics vehicle and the vehicle distance between adjacent logistics vehicles are monitored, and when the vehicle distance is smaller than a preset value, an alarm is started; the speed of the following logistics vehicle is reduced;
(3) Monitoring the state of each branch mechanism;
(4) And monitoring the state of the standby battery of each logistics vehicle.
3-5, A loop track for a tubular logistics system, comprising 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 cargoes from one transfer station to another transfer station;
The transfer station comprises a trunk transfer station 11; the track comprises an outer annular main channel 13; the outer trunk road is used for connecting adjacent trunk transfer stations;
All outer annular main channels form a loop track.
The tracks of the adjacent 2 transfer stations are multiple tracks; the re-track means at least one forward track and at least one reverse track.
The transfer station also comprises an in-loop transfer station 12 arranged in the area surrounded by the loop track; an inline track 15 is provided between the in-loop transfer station and at least 2 main transfer stations.
The track also includes a curve 14; the curve is arranged between the inline track and used for bypassing the in-loop transfer station; the curve is also arranged between the inline track and the outer ring main road and is used for bypassing the trunk transfer station; the junction of the curve and the internal track and the junction of the curve and the external ring main road are provided with branch switching mechanisms 16.
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 vehicle is powered from the power supply line through the power receiving device and used for driving the logistics vehicle.
The logistics trolley also acquires control signals from the power supply line. See power line (power cat) communication technology.
The logistics vehicle is internally provided with a power battery for driving the logistics vehicle to walk.
A secondary transfer station 17 is arranged on the outer trunk or the inline track. And arranging the secondary transfer stations according to the distance between the transfer stations or the logistics hot spot. One outer trunk or inline track may be provided with 0, 1 or more secondary transfer stations. The transfer station further comprises an end transfer station 18 arranged in or outside the area enclosed by the loop track, the end transfer station being in rail connection with the remaining at least one transfer station.
The transfer station is provided with a communication module; the communication module is used for communicating with the monitoring host and the logistics vehicle.
6-8, A tree-like track for a tubular logistics system, comprising 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 cargoes from one transfer station to another transfer station;
The transfer stations comprise a plurality of backbone transfer stations 11; the tracks include a backbone track 19; the trunk track is used for connecting adjacent trunk transfer stations;
All the backbone tracks form linear non-closed backbone tracks.
The tracks of the adjacent 2 transfer stations are multiple tracks; the re-track means 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 branching track; the terminal transfer station is connected with the trunk transfer station through the branch track so as to connect the branch track into the trunk track.
The transfer station also includes a secondary transfer station 17; the secondary transfer station is connected to the terminal transfer station via a branching track.
A plurality of secondary transfer stations are arranged near one terminal transfer station; the plurality of secondary transfer stations are respectively connected with the terminal transfer stations through branch tracks, namely, a star-shaped connection mode.
The track comprises an annular track 21; a plurality of secondary transfer stations are arranged near one terminal transfer station; the secondary transfer stations are sequentially connected with the terminal transfer stations through the annular track to form a loop track; the loop track is connected into the branch track through the terminal transfer station, namely, the loop track is connected in a loop type connection mode.
The track also includes a curve 14; the bend is arranged between the trunk track and the branch track and used for bypassing the trunk transfer station; the junction of the curve and the main track is provided with a branch switching mechanism 16.
The track also includes a curve 14; the curve is arranged between the branch rail and the secondary transfer station and is used for bypassing the terminal transfer station; a branch switching mechanism (16) is arranged at the junction of the bend 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 vehicle is powered from the power supply line through the power receiving device and used for driving the logistics vehicle.
The logistics trolley also acquires control signals from the power supply line. See power line (power cat) communication technology.
The logistics vehicle is internally provided with a power battery for driving the logistics vehicle to walk.
9-11, A logistics vehicle for a tubular logistics system comprises a vehicle body, a traveling system, a communication system and an electricity taking system; the vehicle body is provided with a controller;
The traveling system is used for driving the vehicle body to travel, 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 traveling system;
The vehicle body is internally provided with a storage bin for storing goods.
The traveling system is a wheel type traveling system or a magnetic suspension traveling 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 are arranged at the bottom of the vehicle body, and the walking wheels can walk along a preset track 35.
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 carrier communication system based on the power line. It may employ a power cat or if the power line is a dc power line, a digital transmission signal may 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 signal weakness, repeater stations are arranged as signal transfer stations at fixed locations within the pipe.
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 a vehicle body; the obstacle avoidance mechanism transmits 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 between the vehicle body and a foreign object. The cushioning mechanism is a spring mechanism or a cushioning mechanism formed of foam or sponge.
A standby battery is arranged in the vehicle body. The backup battery has the function of driving the vehicle body to travel along the track to the nearest transfer station or maintenance station by means of the backup battery in case of a failure of the pantograph.
The storage bin is separated into a plurality of compartments by a plurality of partitions.
The partition board can flexibly change the position, so that a plurality of compartments with different sizes can be formed; each compartment can be provided with at least one storage bag, each storage bag is provided with a label (bar code or two-dimensional code or RFID label), and after the cover or the side door is opened at the transfer station, one or more storage bags can be taken out by a manipulator or a person.
In addition, the car body is provided with a cover plate or a side door for opening the storage bin.
The detection module comprises speed detection, acceleration detection and battery capacity detection;
The logistics vehicle further comprises a positioning module; the positioning module is GPS or Beidou or route-based or speed-based positioning. Such as the most recently traversed station plus the travel route and distance.
The vehicle body operates in an unmanned mode.
A path planning method for a tubular logistics system, comprising the steps of:
step 1: preliminarily determining a plurality of alternative paths;
Step 2: for each path, selecting one path taking into account the path length or estimated time spent for the path;
The path is a path of the logistics vehicle travelling 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 tree track path.
In step 2, the path is determined with the shortest time taken.
In step 2, the shortest path is determined.
In step 2, the time spent and the path length are comprehensively considered to determine the path.
The judgment index is J; j=k1×t+k2×l;
k1 is a time weight, and k2 is a distance weight; the value ranges of k1 and k2 are 0-1, and k1+k2=1;
t is the total time period from the departure point to the destination based on a certain path;
L is the total distance from the departure point to the destination based on a certain path;
for a plurality of paths, calculating a judgment index J of each path; and taking the path corresponding to the J minimum value as the final determined path.
Irrespective of congestion conditions, there are:
(1) t i is the path run time of the ith segment at a predetermined speed;
(2) and l i is the path length of the ith path.
Considering the congestion factor, there are:
(1) b i is the congestion factor; t i is the path run time of the ith segment at a predetermined speed;
(2) and l i is the path length of the ith path.
The congestion factor is analyzed according to the big data, and the average speed of the vehicle in the path of each periodA ratio to the nominal speed v i0; i.e./>
Average speed of vehicleThe congestion rate for this period for the last 1 day, or the average speed-corresponding period for the last 5 days, 10 days, refers to dividing a day into a plurality of periods, such as one period every half hour.
Claims (1)
1. The logistics vehicle for the tubular logistics system is characterized by comprising a vehicle body, a traveling system, a communication system and an electricity taking system; the vehicle body is provided with a controller;
The traveling system is used for driving the vehicle body to travel, 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 traveling system;
A storage bin for storing goods is arranged in the vehicle body;
The traveling system is a wheel type traveling system or a magnetic suspension traveling system; the traveling system comprises a plurality of traveling wheels (31) and a driving mechanism for driving the traveling wheels; the plurality of travelling wheels are arranged at the bottom of the vehicle body and can travel along a preset track (35);
the power taking system is a pantograph (33) for taking power from a power line at 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 carrier communication system based on the power line;
the wireless communication system is a ZigBee-based communication system or a 2G, 3G, 4G or 5G-based communication system;
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 a vehicle body; the obstacle avoidance mechanism sends the detected signal to a controller on the vehicle body;
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 between the vehicle body and a foreign object;
A standby battery is arranged in the vehicle body;
The storage bin is separated into a plurality of compartments by a plurality of partition boards;
The tubular logistics system comprises 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 monitoring the state, the position and the action of each logistics vehicle, (2) monitoring the state and the action of the branch switching mechanism and (3) monitoring the circulation state of goods;
The track is a tubular track; the track is the travelling 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 track; the branch mechanism is used for switching the track under the control of the monitoring function and the dispatching center so as to control the logistics vehicle to selectively enter the next track section;
The number of the logistics vehicles is multiple; for carrying and transporting goods; the goods are provided with labels; the goods are a package or a transport bag comprising a plurality of packages, and the transport bags are generally at the same place of departure and at the same destination;
the monitoring and dispatching center is used for planning a transportation path, controlling a plurality of logistics vehicles to run on the track through a branch switching mechanism based on the planned transportation path, and conveying the sorted goods from the origin transfer station to the destination transfer station;
the transfer station is provided with a cargo scanning device, and information scanning, namely recording, of cargoes is realized through the cargo scanning device in the loading and unloading processes;
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, a 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 vehicle and the branch switching mechanism;
The monitoring and dispatching 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 bidirectional power vehicle, can reversely run without turning around, and has independent power at two ends of the vehicle body;
the logistics vehicle further comprises a positioning module; the positioning module is GPS or Beidou or route-based or speed-based positioning;
the vehicle body runs in an unmanned mode;
A path planning method for a tubular logistics system, comprising the steps of:
step 1: preliminarily determining a plurality of alternative paths;
Step 2: for each path, selecting one path taking into account the path length or estimated time spent for the path;
the path is a path of the logistics vehicle travelling on the track; each path comprises at least one terminal path, and each sub path is connected with two adjacent stations;
The path is a path of a tree-shaped track;
in step 2, comprehensively considering the time spent and the path length, determining the path:
the judgment index is J; j=k1×t+k2×l;
k1 is a time weight, and k2 is a distance weight; the value ranges of k1 and k2 are 0-1, and k1+k2=1; t is the total time period from the departure point to the destination based on a certain path;
L is the total distance from the departure point to the destination based on a certain path;
For a plurality of paths, calculating a judgment index J of each path; taking the path corresponding to the J minimum value as the final determined path;
Irrespective of congestion conditions, there are:
(1) t i is the path run time of the ith segment at a predetermined speed;
(2) l i is the path length of the ith path;
Considering the congestion factor, there are:
(1) b i is the congestion factor; t i is the path run time of the ith segment at a predetermined speed;
(2) l i is the path length of the ith path;
The congestion factor is analyzed according to the big data, and the average speed of the vehicle in the path of each period A ratio to the nominal speed v i0; i.e./>
Average speed of vehicleThe congestion rate for this period for the last 1 day, or the average speed for the corresponding period of the last 5 days, 10 days—the corresponding period, refers to dividing a day into a plurality of periods, such as one period every half hour.
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| CN109131376A (en) * | 2018-09-03 | 2019-01-04 | 北京交通大学 | A kind of maglev type Logistics Transportation system |
| CN109230315A (en) * | 2018-09-07 | 2019-01-18 | 中铁第四勘察设计院集团有限公司 | A kind of Novel cold chain logistics machine for collecting load and pipe-line system |
| CN113877825A (en) * | 2021-09-27 | 2022-01-04 | 上海智逍遥机器人有限公司 | Power line communication method for intelligent sorting machine |
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