CN109447547A

CN109447547A - A kind of freight transport system and its shipping method based on unmanned son, female vehicle

Info

Publication number: CN109447547A
Application number: CN201811189161.4A
Authority: CN
Inventors: 马芳武; 代凯; 赖振龙; 单子桐; 蒲永锋; 刘振泽
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2018-10-12
Filing date: 2018-10-12
Publication date: 2019-03-08
Anticipated expiration: 2038-10-12
Also published as: CN109447547B

Abstract

The present invention relates to logistics distribution technical fields, unmanned son is based on more particularly to one kind, the freight transport system and its shipping method of female vehicle, the lorry includes: female vehicle with unmanned function, the control system of sub- vehicle and control female vehicle and sub- vehicle with unmanned function, the one piece of deck for being provided with one group of deck lifting motor in the compartment of mother's vehicle and being mounted on the lifting motor, the tail portion of mother's vehicle is provided with hoisting type car door, the shipping method includes: step S1: preparation process, step S2: process of getting on the bus, step S3: transportational process, step S4: process of getting off, step S5: delivery process, step S6: process of making a return voyage, the invention has the advantages that being not necessarily to shipping driver, porter and goods delivery worker, it solves the problems, such as that cargo is removed to unload, to reduce the carrying damage of cargo, The safety coefficient and logistic efficiency for substantially increasing shipping reduce the foodstuff cargo spoilage problems to be dispensed.

Description

A kind of freight transport system and its shipping method based on unmanned son, female vehicle

Technical field

The present invention relates to logistics distribution technical fields, and in particular to a kind of freight transport system based on unmanned son, female vehicle And its shipping method.

Background technique

In today that logistic industry instantly is grown rapidly, traditional Shipping Method has been far from satisfying the need in epoch It asks, will be combined with intelligent science and technology, be allowed to gradually move towards intelligent and modernization, improve cargo transport and goods energetically The efficiency of object dispatching.

With the increasingly intelligence of social development, the unmanned technology of automobile has gradually developed now and maturation, and And gradually it is applied to the every aspect of society.It is the intelligentized most critical technology for realizing shipping that unmanned technology, which is undoubtedly, The unmanned key of shipping is exactly that cargo transport process and cargo assigning process are realized using automatic driving vehicle, in this way may be used To liberate a large amount of manpower, but can extremely effective raising safety coefficient and conevying efficiency, save the cargo transport time.

There are the biggish logistics company of small part and express company to introduce unmanned technology at present, has been applied to production The transport of middle raw materials for production, the transport of product and product dispatching.The substantially process of delivery process on the market is at present: before this Cargo successively out of warehouse piecemeal bring up to big unmanned transport vehicle, big unmanned transport vehicle is various cargos Target anchor point is transported, is then directly unloaded into more unmanned delivery trolleies, then by the respective goods delivery of the small handlebar of delivery To each targeted sites.

This universal goods handling mode needs frequent removing to unload cargo, i.e., scattered cargo is brought up to big unmanned fortune Defeated vehicle unloads cargo from big unmanned transport vehicle again could dispense cargo, waste a large amount of human and material resources, time, and And it is easy to make cargo damage therein during removing and unloading, waste time and is easy so that the cargo as fruits and vegetables class is rotten, always This more universal unmanned Shipping Method it is inefficient.Although also having the Transfer method using cargo integrated package, i.e. handle The vanning of more than one piece cargo image set is equally fitted together, and is transported to modular, but this method still needs constantly to remove to unload.

Comprehensively universal not yet in view of unmanned technology, also there are no obtain extensively in terms of logistics for unmanned technology Using being also only limited to small-scale service stage or experimental stage at present, current most of goods handling is all Manually drive goods stock, and by the people of such as courier etc goods delivery to targeted sites.Namely Say that unmanned technology is universal in freight industry not yet, shipping company and express company also need a large amount of manpower and material resources to complete The transport of cargo, unmanned technology have a extensive future in logistical applications.

Summary of the invention

The object of the present invention is to provide a kind of freight transport system and its shipping method based on unmanned son, female vehicle, are used for The transport and dispatching of the raw material and product of factory, for logistic industry, the cargo transport and dispatching of delivery industry, on overcoming State the deficiencies in the prior art.

The present invention proposes a kind of freight transport system based on unmanned son, female vehicle, which includes: with unmanned function Can female vehicle, the sub- vehicle with unmanned function and the control system for controlling female vehicle and sub- vehicle, set in the compartment of mother's vehicle It is equipped at least four groups of deck lifting devices and one piece of deck being mounted on the lifting device, the tail portion of mother's vehicle is provided with Hoisting type car door, the deck lifting device include: vertical track, sliding block fastening device, cylinder-shaped sliding block, card sliding block circle Ring, lifting driving motor, deck are lifted cable wire, and the both ends of the vertical track are vertically connected in the top cover and bottom plate in the compartment On, the sliding block fastening device is embedded in the mounting groove of vertical track, and the installation site of the mounting groove is that deck can rise Final position, card sliding block annulus fixing is scheduled on the vertical track, and four corner locations on the deck are respectively provided with There is the cylinder-shaped sliding block being connected with the deck, the cylindrical shape slide block set is on the vertical track and can be with described Deck is slided up and down along the vertical track, and described deck lifting cable wire one end and the deck are connected, the deck lifting The cable wire other end is connect with the shaft of the lifting driving motor, and the lifting driving motor is mounted on the side wall in the compartment On, it is provided with multiple sub- vehicle docks on the upper surface of the deck and platform floor, is all provided on every sub- vehicle docks It is equipped with the wheel fixing device for stator vehicle；The hoisting type car door includes: car door, two switch gate cable wires and two A switch gate driving motor, the car door are hinged on the tail edge of the platform floor, the switch gate driving motor peace It is installed adjacent on the side wall of the compartment two sides of the car door position, one end of the switch gate cable wire is connected in the vehicle On the door of compartment, the other end of the switch gate cable wire connect with the switch gate driving motor and is controlled by it the flexible of cable wire, institute Stating control system includes: control centre, general headquarters, the unmanned control system of sub- vehicle and female unmanned control system of vehicle, described total Control centre, portion be responsible for include: the setting of target anchor point, female vehicle optimal route planning, the optimal dispatching of sub- vehicle and return route Planning, the sub- vehicle dispatching division in region, the number of sub- vehicle, to the long-range control of sub- vehicle and female vehicle, default unload or when picking Between setting, real-time road condition information data collection and statistics, information processing system.

Preferably, deck lifting device described in every group is four deck lifting devices, the deck is one layer.

It is a further object to provide a kind of shipping method of freight transport system based on unmanned son, female vehicle, Method includes the following steps:

Step S1: preparation process, the preparation process include:

Step S11: the setting to target anchor point,

Step S12: female vehicle optimal route planning,

Step S13: the division in sub- vehicle dispatching region,

Step S14: the optimal dispatching of sub- vehicle and the planning of return route,

Step S15: first information is sent to client；

Step S16: the filling of fuel or the supplement of electricity,

Step S17: the loading of sub- vehicle dispatching cargo；

Step S2: process of getting on the bus: the process of getting on the bus includes:

Step S21: sub- vehicle is got on the bus process；

Step S22: female vehicle deck lifting process；

Step S3: transportational process: female vehicle carries sub- fleet and drives towards target anchor point by female vehicle optimal route and stop automatically；

Step S4: process of getting off: after female vehicle is stopped, female vehicle issues door open command, and car door is opened, and sub- vehicle is according to above-mentioned steps The get on the bus inverse process of process of S2 is got off: the opposite sequence of sub- vehicle by number on platform floor is got off, and the sub- vehicle on platform floor is all After getting off, female vehicle falls deck, repeats the same process of getting off of sub- vehicle on platform floor, female until sub- fleet all gets off Vehicle closes car door, and later, female vehicle original place waits the sub- vehicle for having sent goods to come back at first just to open car door.

Step S5: delivery process: each sub- vehicle from female vehicle get on or off the bus after just immediately according to the optimal dispatching of the regulation of oneself Route goes to dispatching region, and successively arrives each targeted sites dispatching cargo by the goods delivery sequence on optimal distribution route, Wherein, when only need directly to unload to targeted sites, then only need sub- vehicle after targeted sites are stopped automatic unloading or Unloading is assisted by the staff of targeted sites, is then departed from and continues to next targeted sites；When being to client with delivery Part, then the first few minutes that targeted sites are reached in sub- vehicle send the information for requesting client to prepare to targeted sites picking to client (Article 2 information), sub- vehicle continue to advance to targeted sites, and sub- vehicle sends request visitor to client after sub- vehicle reaches targeted sites Family is to the information (Article 3 information) of targeted sites picking, and when presetting unmanned picking in the maximum picking time, then sub- vehicle will The goods part is labeled as non-picking part, which carries always quilt vehicle, takes back with female vehicle until delivery next time, the Target Station Quilt vehicle also is thought to complete by the goods part dispatching task of point, and sub- vehicle continues to next targeted sites, until sub- handlebar oneself The last one goods part dispatching task after the completion of, sub- vehicle is by providing optimal to stop back to the route return target of target anchor point By point；

Step S6: process of making a return voyage, the process of making a return voyage include:

Step S61: the process of getting on the bus of making a return voyage,

Step S62: process of making a return voyage.

Preferably, in the preparation process of step S1, comprising the following steps:

Step S11: the setting to target anchor point includes: in loading object into being first sent to each part cargo before sub- vehicle Respective targeted sites are counted, and the boundary line for the mission area that main-auxiliary vehicle system once executes is drawn, and are made as far as possible by this The figure that boundary line is constituted is geometric figure, which is selected in the center that figure is made of boundary line, if the figure It is the geometric figure comprising all tasks, then target anchor point is just selected in the geometric center of the geometric figure；

Step S12: mother's vehicle optimal route planning includes: to set up female Chinese herbaceous peony by the algorithm that optimal route is planned to stop toward target By the optimal route of point, and female vehicle from target anchor point carry sub- Chinese herbaceous peony toward terminal optimal route；Starting point goes to target to stop The optimal route of point is denoted as F1, and target anchor point goes to the optimal route of terminal to be denoted as F2, female vehicle optimal route y, and female vehicle is optimal Route planning: y=F1+F2；

Step S13: the division in the sub- vehicle dispatching region includes: that the mission area that the main-auxiliary vehicle system once executes is divided into Several pieces, will include dispatching target that all cargos targeted sites to be sent in same region are attributed to a sub- vehicle Site groups, one piece of region comprising a targeted sites group is exactly a sub- vehicle dispatching region, farther away from target anchor point to match The targeted sites that the targeted sites for sending region to include will include less than dispatching region closer from target anchor point, by as far as nearly son It is A, B, C, D ... that vehicle, which dispenses region number consecutively, and each targeted sites dispensed in region are also numbered, and A dispenses the mesh in region Marking site number is A1, A2, A3 ..., and the targeted sites number in B dispatching region is B1, B2, B3 ..., other dispatching regions By parity of reasoning for targeted sites method for numbering serial；

Step S14: the optimal dispatching of the sub- vehicle and the planning of return route include: according to the responsible dispatching region of each sub- vehicle away from Distance from targeted sites, to each sub- vehicle number from No. 1 to several numbers, 1 work song vehicle is responsible for A dispatching region, 2 work song vehicles are responsible for B dispenses region ..., and the rest may be inferred, and farther out, getting on the bus for sub- vehicle is suitable for the responsible dispatching region distance targeted sites of the small sub- vehicle of number Sequence are as follows: 1 work song vehicle first on, then to 2 work song vehicles ... until the maximum sub- vehicle of number.Take the sub- Che Zucheng of same female vehicle One Ge Zi fleet determines that each sub- vehicle dispenses the sequencing of cargo by " random algorithm " or " Global Algorithm ", and designs The optimal dispatching of each sub- vehicle and return route out, and to respectively dispensing targeted sites in optimal dispatching and return route by matching The sequencing number sent,

Step S15: described to send first information to client include: to design sub- vehicle after the traffic route for planning good sub- vehicle and arrive Default unloading or default picking time up to each targeted sites, wherein group vehicle is that when matching delivery part to client, then do not having Sub- vehicle sends request client within the default picking time to information (first of targeted sites picking to target customer before dispatching a car Information)；

Step S16: if the filling of the fuel or the supplement of electricity include: to female vehicle and each sub- vehicle addition fuel (sub- vehicle mother When vehicle is using fuel as power) or electricity (when sub- vehicle mother vehicle is using electric power as power)；

Step S17: the loading of the sub- vehicle dispatching cargo includes: that the cargo distributed is put into correspondence respectively in warehouse Son it is interior；

Preferably, during step S2, comprising the following steps:

Step S21: the sub- vehicle process of getting on the bus includes: that the sequencing of sub- vehicle by number successively lines up automatically to drive towards female vehicle, Female vehicle opens car door, and then sub- vehicle successively reaches the deck in the railway carriage for subsequently entering female vehicle as the car door on slope, and And automatic parking corresponding numbering area on ready-portioned deck, wherein in compartment the corresponding numbering area of sub- vehicle from a left side to It is right, set gradually from the inside to surface, from deck to platform floor be set as No. 1, No. 2 ... until maximizing benefit parking space With so that sub- vehicle is parked, previous sub- vehicle just issues the lower trolley of request signal of getting on the bus after coming to a complete stop and reach female vehicle, then by same Sub- vehicle by installing fixation device is above deck fixed on corresponding number after coming to a complete stop by the mode automatic parking of sample, each sub- vehicle On the deck in region；

Step S22: mother's vehicle deck lifting process includes: after the sub- vehicle on deck stops full, last is above deck The sub- vehicle stopped issues the signal that request deck is lifted to female vehicle, and control deck lifting motor drives first after female vehicle receives signal Plate is promoted, and female vehicle issues the platform floor that lower trolley of request signal of getting on the bus reaches female vehicle, and repeat the above steps S21 neutron vehicle The process of female vehicle is reached, sub- vehicle by the fixation device being mounted on platform floor is fixed on corresponding volume after coming to a complete stop by each sub- vehicle On the platform floor in number region, after all upper female vehicle of all sub- vehicles, last sub- vehicle reaches after female vehicle is stopped to female vehicle The signal that request is closed the door is issued, control switch door driving motor traction switch gate cable wire shuts car door after female vehicle receives signal, After car door is shut, female vehicle, which is dispatched a car, goes to target anchor point along female vehicle optimal route automatic Pilot；

Preferably, during step S6, comprising the following steps:

Step S61: the process of getting on the bus of making a return voyage includes: after completing goods part dispatching task, soon back to target anchor point First sub- vehicle is just renumbered as No. 1, while the sub- vehicle issues the signal of door opening request to female vehicle, and female handlebar car door is beaten It opens, car door, which has already turned on, when sub- vehicle reaches female vehicle finishes, and sub- vehicle reaches female vehicle simultaneously according to the process in above-mentioned steps S21 And stop, the sequencing returned to, which is pressed, back to the sub- vehicle of target anchor point later is successively renumbered as No. 2,3 Number ... to the last one, so that all sub- vehicles are not necessarily in the stop of target anchor point but directly get on the bus, wherein group There is sub- vehicle failure that can not return to target anchor point in fleet, then the sub- vehicle just sends failure to control centre, general headquarters Message waits the relevant personnel to bring it back into maintenance, and rejects in the sub- Che Congzi fleet,

Step S62: the process of making a return voyage includes: complete vehicle on all sub- vehicles to sub- fleet, and female vehicle closes car door, and car door is closed Good stepmother's vehicle carries sub- vehicle and goes to terminal along female vehicle optimal route automatic Pilot, wherein terminal is set as starting point or other rule Determine place, stepmother's vehicle of reaching home is stopped automatically, is got off according to the get on the bus sub- vehicle of inverse process of process of above-mentioned steps S2, in sub- fleet Sub- vehicle all get off after, female vehicle control car door is closed, and the trolley for carrying non-picking part also needs goods part to be discharged to rule Determine place, staff is waited to handle non-picking part, completes dispatching task.

Preferably, the sequencing of sub- vehicle by number successively lines up automatically to drive towards female vehicle during step S21, During female vehicle release car door, the switch gate cable wire of car door two sides is driven at the uniform velocity to discharge using switch gate driving motor, One end of the car door is rotated along the hinged shaft of platform floor, and the other end of the car door, which drop to ground, becomes car door The ramped aisle that sub- vehicle is got on the bus.

Preferably, lifting driving motor in control deck drives deck after female vehicle receives signal during step S22 In lifting process, deck is driven to be promoted on vertical track using lifting driving motor pull line, wherein the deck Four corner locations be provided with deck be connected cylinder-shaped sliding block, it is described cylindrical shape slide block set on the vertical track And it can be slided up and down with the deck along the vertical track, utilize the sliding block in the mounting groove for being embedded in vertical track Fastening device blocks deck and it is prevented to move downward, the position promoted using the card sliding block annulus being fixed on vertical track to deck It sets and is limited, sliding block fastening device protrudes immediately out of mounting groove to limit deck when card sliding block annulus is encountered in lifting when deck Move downward, and simultaneously lifting driving motor stop operating immediately, thus by deck be limited to sliding block fastening device and Between card sliding block annulus.

Preferably, during step S14: in the planning process of the optimal dispatching of sub- vehicle and return route, if matched It send the targeted site for including in region to be greater than N, then executes following " random algorithm ", N is the number less than 10, and numerical value is artificial It is defined and the smaller the better, for reducing operation times, the calculation step of " random algorithm " are as follows:

Step S1410: determining highway route design task, that is, determines the sub- vehicle cargo to be dispensed, and determine the sub- vehicle mesh to be reached The number and location information of labeling station point；

Step S1411: taking N=6, by taking the B of 2 work song vehicles dispenses region as an example, if B dispatching region includes 7 targeted sites altogether, respectively Targeted sites number are as follows: B1, B2, B3, B4, B5, B6, B7；Target anchor point number is O；

Step S1412: combining the number random alignment of this 7 targeted sites, generate 10 random sequence groups, and the such as the 1st is random Sequence group: B2B7B5B1B3B6B4；2nd random sequence group: B4B1B6B7B3B5B2.And volume is added in random sequence group head and the tail The O of number O, random sequence group and head and the tail constitutes a kind of default route；Such as the 1st default route: O-B2-B7-B5-B1-B3- B6—B4—O；Such as the 2nd default route: O-B4-B1-B6-B7-B3-B5-B2-O shares 10 kinds of default routes；

Step S1413: the distance of adjacent point-to-point transmission potential route in each default route is calculated by " A* algorithm ", and collects statistics The information data of real-time road, such as route O-B2, B2-B7, B7-B5, B5-B1, B1-B3, B3-in the 1st default route B6, B6-B4, B4-O distance are denoted as respectively: L_O—B2、L_B2—B7、L_B7—B5、L_B5—B1、L_B1—B3、L_B3—B6、L_B6—B4、L_B4—O；

Step S1414: integrating distance and real-time road condition information data calculate the minimum score of adjacent point-to-point transmission in each default route, And then acquire the total score of each default route；Score meets scoring function relationship Q=Q (L) with distance, real-time road condition information data, The function is obtained by the score weight of " A* algorithm ", such as Q (L)=kL²+ L+b, wherein L is the variable for representing distance, and k, b are Algorithm coefficient relevant to real-time road condition information data, distance and real-time road point-to-point transmission potential route adjacent in default route Condition information data substitutes into scoring function, takes minimum score, as obtaining in the 1st default route is denoted as respectively: Q_O—B2、Q_B2—B7、 Q_B7—B5、Q_B5—B1、Q_B1—B3、Q_B3—B6、Q_B6—B4、Q_B4—O, this 8 scores be added the 1st default route total score Q1, similarly Calculate the 2nd default route total score Q2 ... ... until the total score Q10 of the 10th default route, totally 10 numbers；

Step S1415: comparing the total score height of 10 default routes, that is, compare Q1, Q2, Q3 ..., Q10 totally 10 it is several Size takes wherein minimum value, and random sequence group corresponding to the minimum value is called elite sequence group 1；

Step S1416: the number of 7 targeted sites in B dispatching region, random alignment is combined again, and regeneration 10 is different Random sequence group, and the 10 kind default routes new with O composition, the S1412 that repeats the above steps, step S1413, step S1414, Step S1415 finds out elite sequence group 2.Similarly, above-mentioned steps S1412, step S1413, step S1414, step are repeated S1415 three times, successively finds out elite sequence group 3, elite sequence group 4, finds out elite sequence group 5；

Step S1417: for this five elite sequence groups, the score of each group is recalculated respectively, Comparison score height obtains and divides Default route corresponding to minimum elite sequence group is as the optimal dispatching of 2 work song vehicles and return route.Similarly seek other each sons The optimal dispatching of vehicle and return route.

Preferably, during step S14: in the planning process of the optimal dispatching of sub- vehicle and return route, if matched It send the targeted site for including in region to be less than or equal to N, then executes following Global Algorithm, N is the number less than 10, and numerical value is people To be defined and the smaller the better, for reducing operation times, the calculation step of the Global Algorithm are as follows:

Step S1420: determining highway route design task, that is, determines the sub- vehicle cargo to be dispensed, and determine the sub- vehicle mesh to be reached The number and location information of labeling station point,；

Step S1421: taking N=6, by taking the A of 1 work song vehicle dispenses region as an example, if B dispatching region includes 5 targeted sites altogether, gives A Dispense each targeted sites number in region are as follows: A1, A2, A2, A3, A4, A5；Target anchor point number is O；

Step S1422: the number permutation and combination of this 5 targeted sites, formation sequence group, and number is added in sequence group head and the tail The O of O, sequence group and head and the tail constitutes a kind of default route, such as the 1st default route: O-A2-A5-A1-A3-A4-O；Such as the 2 default routes: O-A4-A1-A3-A5-A2-O shares A⁵ ₅=5 × 4 × 3 × 2 1=120 kind of x arrangement, that is, have 120 kinds it is pre- If route；

Step S1423: the distance of adjacent point-to-point transmission potential route in each default route is calculated by " A* algorithm ", and collects system The information data for counting real-time road, as route O-A2 in the 1st default route, A2-A5, A5-A1, A1-A3, A3-A4, The distance of A4-O is denoted as respectively: L_O—A2、L_A2—A5、L_A5—A1、L_A1—A3、L_A3—A4、L_A4—O；

Step S1424: integrating distance and real-time road condition information data calculate the minimum score of adjacent point-to-point transmission in each default route, And then the total score of each default route is acquired, adjacent point-to-point transmission score and distance, real-time road meet scoring function relationship Q=Q (L), which is obtained by the score weight of " A* algorithm ", such as Q (L)=kL²+ L+b, wherein L is the variable for representing distance, K, b is algorithm coefficient relevant to real-time road condition information data, the distance of point-to-point transmission potential route adjacent in default route and Real-time road condition information data substitute into scoring function, take minimum score, as obtaining in the 1st default route is denoted as respectively: Q_O—A2、 Q_A2—A5、Q_A5—A1、Q_A1—A3、Q_A3—A4、Q_A4—O, this 6 scores be added the 1st default route total score Q1, with adjust the The total score Q2 of 2 default routes, the total score Q3 ... ... of the 3rd default route until calculate the 120th default route total score Q120；

Step S1425: the total score height of more each default route, that is, compare Q1, Q2, Q3 ..., Q120 totally 120 it is several Size takes wherein minimum value, using default route corresponding to the minimum value as the optimal dispatching of sub- vehicle and return route.

Advantages of the present invention and good effect are: the present invention is based on unmanned technology, using optimization algorithm and female vehicle The mode of sub- vehicle is carried, shipping driver, porter and goods delivery worker is not necessarily to, solves the problems, such as that cargo is removed and unload, to subtract The carrying damage for having lacked cargo, reduces foodstuff cargo spoilage problems；A large amount of manpower and material resources are saved for company or enterprise, Reduce the expenditure of personal expenditures；The safety that shipping can be effectively improved reduces the incidence of freight traffic accident；And significantly Shipping dispatching efficiency is improved, the time of shipping and dispatching is shortened.

Detailed description of the invention

Fig. 1 is the overview flow chart of shipment process of the invention.

Fig. 2 is the flow chart of preparation process of the invention.

Fig. 3 is the route map of shipment process of the invention.

Fig. 4 is the installation diagram on deck and vertical track of the invention.

Fig. 5 is the assembly Local map of platform floor and vertical track of the invention.

Fig. 6 is the female vehicle compartment for removing carriage top of the invention.

Fig. 7 is the schematic diagram of getting on the bus of sub- vehicle of the invention.

Fig. 8 is the schematic diagram on all sub- vehicles of the invention after complete vehicle.

Fig. 9 is the overall schematic in female vehicle compartment of the invention.

Figure 10 is the target anchor point selected in round mission area that main-auxiliary vehicle system of the invention once executes.

Figure 11 is the target anchor point selected in rectangle mission area that female vehicle system of the invention once executes.

Figure 12 is to dispense region division to each sub- vehicle in the rectangle mission area that main-auxiliary vehicle system of the invention once executes Schematic diagram afterwards.

Appended drawing reference: female vehicle 1, sub- vehicle 2, deck lifting device 3, deck 4, platform floor 5, hoisting type car door 6, vertical Track 7, sliding block fastening device 8, cylinder-shaped sliding block 9, card sliding block annulus 10, lifting driving motor 11, deck lifting cable wire 12, son Vehicle docks 13, car door 14, switch gate cable wire 15, switch gate driving motor 16, arc-shaped curved ear 17.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this Embodiment in invention, those of ordinary skill in the art under the premise of not making the creative labor, it is obtained it is all its Its embodiment, belongs to the scope of the present invention.

Embodiment 1,

The freight transport system based on unmanned son, female vehicle refering to Fig. 4-9, in the present embodiment, comprising: there is unmanned function Female vehicle 1, the sub- vehicle 2 with unmanned function and the control system for controlling female vehicle 1, sub- vehicle 2, setting in the compartment of female vehicle 1 The platform floor 5 on the deck 4 for having four groups of deck lifting devices 3 and being mounted on lifting device, female 1 tail portion of vehicle is provided with car door 6, deck lifting device 3 includes: vertical track 7, sliding block fastening device 8, cylinder-shaped sliding block 9, card sliding block annulus 10, lifting driving Motor 11, deck are lifted cable wire 12, and the both ends of vertical track 7 are vertically connected on the top cover and bottom surface in compartment, and are mounted on and are leaned on The position of nearly railroad car lateral wall 5-10cm, to concede the upper vehicle passage more widened to sub- vehicle 2, cylinder-shaped sliding block 9 is sleeved on vertically On track 7, sliding block fastening device 8 is embedded in the mounting groove of vertical track 7, and every layer of the position deck of mounting groove can rise Final position, card sliding block annulus 10 are fixed on vertical track 7, for limiting the extreme position of cylinder-shaped 9 upward sliding of sliding block, Four corner locations on deck 4 are provided with the cylinder-shaped sliding block 9 being connected with deck 4, and 9 sets of cylinder-shaped sliding block is in the vertical rails It can slide up and down on road 7 and with deck 4 along the vertical track 7.Cylinder-shaped sliding block 9 is fixed on vertical track, Deck is lifted one end of cable wire 12 and deck 4 is connected, and deck is lifted 12 other end of cable wire and connect with lifting driving motor 11, goes up and down Driving motor 11 is mounted on the side wall in compartment, and four sub- vehicles 2 are respectively arranged on the upper surface of deck 4 and platform floor 5 Docks 13 are provided with the wheel fixing device for stator vehicle 2 (as long as can prevent on every sub- 2 docks 13 of vehicle What only sub- vehicle shifted on female vehicle 1 all can serve as the device, not show in the more universal simple graph of structure)；Hoisting type vehicle Compartment door 6 includes: that 14, two switch gate cable wires 15 of car door and two switch gate driving motors 16, car door 14 are hinged on compartment On the hinged shaft at 5 edge of platform floor of tail portion, switch gate driving motor 16 is arranged close to the compartment two sides of car door position On side wall, one end of switch gate cable wire 15 is connected in car door 14, the other end and switch gate the driving electricity of switch gate cable wire 14 Machine 16 connects passes through the curved ear 17 of circular arc type among it, and the curved ear 17 of circular arc type is fixed in the compartment wall of compartment tail edge, circular arc For the curved ear of type 17 with switch gate driving motor 16 in sustained height, control system includes: that control centre, general headquarters, sub- vehicle 2 are unmanned Control system and female unmanned control system of vehicle, control centre, general headquarters are responsible for including: that the setting of target anchor point, female vehicle are optimal The planning of route, the optimal dispatching of sub- vehicle and the planning of return route, sub- vehicle dispense the division in region, the number of sub- vehicle, to sub- vehicle At the long-range control, default unloading or the setting of picking time, the collection and statistics, information of real-time road condition information data of female vehicle Reason.

Embodiment 2,

Refering to fig. 1, Fig. 2, Fig. 3, Figure 10, Figure 11, Figure 12, a kind of shipping side of the freight transport system based on unmanned son, female vehicle Method, comprising the following steps:

Step S1: preparation process, preparation process include:

Step S11: the setting to target anchor point, it is respective into be first sent to each part cargo before sub- vehicle 2 in loading object Targeted sites are counted, and determine the mission area of the main-auxiliary vehicle system, draw the mission area that main-auxiliary vehicle system once executes Boundary line, making the figure being made of the boundary line as far as possible is geometric figure, which is selected in is made of boundary line The center of figure, if the figure is the geometric figure comprising all tasks, target anchor point is just selected in the geometric figure Geometric center.If the mission area using the smallest circular region comprising all targeted sites as the main-auxiliary vehicle system, mesh Labeling station point is just selected in the center of circle, as shown in Figure 10；If using the minimum rectangular area comprising all targeted sites as the main-auxiliary vehicle The mission area of system, then targeted sites are just selected in the geometric center of rectangle, as shown in figure 11.

Step S12: female vehicle optimal route planning, first holding main-auxiliary vehicle system real-time interconnection and moment and general headquarters control Center is kept in touch, and control centre, general headquarters downloads the map (such as high definition Google Maps) of high definition, and to map on network in advance Rasterizing processing is carried out, the optimal route of target anchor point is gone to by the good female vehicle 1 of " A* algorithm " planning later, first according to " A* The score weight of algorithm " provides scoring function relationship Q=Q (L), such as Q (L)=kL²(wherein, L is the change for representing distance to+L+b Amount, k, b are algorithm coefficients relevant to real-time road condition information data), then distance and real-time road condition information number potential route Starting point is calculated separately to targeted sites and targeted sites to the score of terminal according to scoring function is substituted into, and is taken representated by minimum score Potential route be optimal route, as vehicle 1 female in Fig. 3 carries the optimal route that sub- vehicle 2 goes to target anchor point from starting point: Point-target anchor point (route is denoted as F1) and female vehicle 1 carry the optimal route that sub- vehicle 2 goes to terminal from target anchor point, such as scheme Route in 3: target anchor point-terminal (route is denoted as F2), this two lines is as 1 optimal route of female vehicle, in Fig. 3 Female 1 optimal route y of vehicle: starting point-target anchor point-terminal (route is denoted as y=F1+F2),

Step S13: sub- vehicle 2 dispenses the division in region, and the mission area which once executes is divided into several pieces, Including dispatching targeted sites that all cargos targeted sites to be sent in same region are attributed to a sub- vehicle 2 Group, one piece of region comprising a targeted sites group are exactly that a sub- vehicle 2 dispenses region, it is each dispense region number consecutively be A, B, C, D ..., as matched in the minimum rectangular area comprising all targeted sites to sub- vehicle 2 in A, B, C, D and Figure 12 in Fig. 3 Send the division in region, each targeted sites dispensed in region are also numbered, the targeted sites number in A dispatching region be A1, A2, The targeted sites number in A3 ..., B dispatching region is B1, B2, B3 ..., such as Fig. 3, the targeted sites number in other dispatching regions By parity of reasoning for method；In the division to sub- vehicle 2 dispatching region, for being distributed more sparse and distance objective comprising targeted sites The farther away dispatching region of anchor point, will make it includes less targeted sites so that the goods delivery distance of all sub- vehicles 2 and when Between quite.

Step S14: the optimal dispatching of sub- vehicle 2 and the planning of return route, the dispatching region distance being responsible for according to each sub- vehicle 2 The distance of targeted sites, to each sub- number of vehicle 2 from No. 1 to several numbers, 1 work song vehicle 2 is responsible for A dispatching region, 2 work song vehicles are responsible for B dispenses region ..., and the rest may be inferred, and the responsible dispatching region distance targeted sites of the small sub- vehicle 2 of number farther out, get on the bus by sub- vehicle 2 Sequentially are as follows: 1 work song vehicle 2 first on, then to 2 work song vehicles 2 ... until the maximum sub- vehicle 2 of number.Take the son of same female vehicle 1 Vehicle 2 forms a Ge Zi fleet；The sequencing for determining that each sub- vehicle 2 dispenses cargo is calculated by " random algorithm ", and to each The sub- targeted sites to be gone to of vehicle 2 by dispatching sequencing number, as in Fig. 3 dispense region A in targeted sites A1, A2, A3,A4,A5.Each sub- vehicle 2, which is designed, by " A* algorithm " goes to the optimal of next targeted sites from a targeted sites Route, such as the route in the responsible A dispatching region of 1 work song vehicle 2 in Fig. 3: target anchor point-A1, A1-A2, A2-A3, A3- A4, A4-A5, these routes formed 1 work song vehicle 2 it is optimal go to targeted sites distribution route, and calculated by " A* algorithm " true Stator vehicle 2 has dispensed the optimal route back to target anchor point of all cargos, and such as 1 work song vehicle 2 in Fig. 3, responsible A matches Send the route in region: A5-target anchor point is to route " the target anchor point-A1-A2-A3-A4-A5-in Fig. 3 Target anchor point " is just used as the optimal dispatching of 1 work song vehicle 2 and return route, is establishing sub- vehicle 2 from initial target based on " A* algorithm " Anchor point goes to next target anchor point until returning to the functional relation between initial target anchor point, determines sub- vehicle 2 Optimal distribution route, the distance that initial target anchor point is gone between next target anchor point are denoted as f1, and sub- vehicle 2 goes to target Distance between anchor point and next target anchor point is successively labeled as f2, and so on, sub- vehicle 2 goes to next target to stop It is successively labeled as f3, f4 ... fn by putting, wherein n is the number of the maximum target anchor point of number, and sub- vehicle 2 is optimal to be dispensed and return Return line m, the optimal dispatching of sub- vehicle 2 and return route planning: m=f1+f2+f3+ ...+fn；

Wherein, all route plannings are it is required that the unmanned freight transport system based on main-auxiliary vehicle total fuel or electricity Run out may it is minimum, the time is most short, this will female vehicle 1 and each 2 travel distance of sub- vehicle it is most short, i.e., so that y is minimum, m minimum；

Wherein, above-mentioned A* algorithm (A-Star) is to solve the most effective direct search method of shortest path in a kind of static road network, It is also the efficient algorithm for solving the problems, such as many search, the range estimation value and actual value in algorithm are closer, final search speed It is faster.

Step S15: default unloading or default picking (sending first information to client), after having planned traffic route, Calculate sub- vehicle 2 reach each targeted sites default unloading or the default picking time, wherein when to target customer match delivery part When, then sub- vehicle 2 sends request client to target customer and arrives targeted sites picking within the default picking time before not dispatching a car Information (first information)；

Step S16: the filling of fuel adds fuel to female vehicle 1 and each sub- vehicle 2；

Step S17: sub- vehicle 2 dispenses the loading of cargo, and the cargo distributed is put into corresponding sub- vehicle 2 respectively in warehouse It is interior, wherein the specific method of salary distribution for distributing cargo is depending on dispensing region according to respectively sub- vehicle 2；

Step S21: sub- vehicle 2 is got on the bus process, and the sequencing of sub- vehicle 2 by number successively lines up automatically to drive towards female vehicle 1, foremost Number be No. 1 sub- vehicle 2 issue the signal that car door 14 is opened in request to female vehicle 2 when soon reaching female vehicle 1, female vehicle 2 is received The switch gate cable wire 15 of 14 two sides of car door is driven at the uniform velocity to discharge using switch gate driving motor 16 after to signal, car door 14 One end is rotated along the hinged shaft of platform floor, and the other end of car door 14 drop to ground according to own wt and formed with sloping Upper vehicle passage, then sub- vehicle 2 successively reaches the car door 14 as upper vehicle passage, proceeds immediately to the first in the railway carriage of female vehicle 1 Plate 4, and automatic parking numbering area corresponding with each sub- 2 serial number of vehicle on ready-portioned deck 4, such as 1 work song vehicle 2 are corresponding No. 1 numbering area, the corresponding numbering area of sub- vehicle 2 is set gradually from the inside to surface in compartment, so that sub- vehicle 2 is parked, from deck to Platform floor, which sets gradually, to be maximally utilized for No. 1, No. 2 ... until parking space, and previous sub- vehicle just issues after coming to a complete stop Lower sub- vehicle 2 of request signal of getting on the bus reaches female vehicle 1, and then automatic parking, each sub- vehicle 2 pass through after coming to a complete stop in the same manner Sub- vehicle 2 is fixed on the deck 4 of corresponding numbering area by the fixation device being mounted on deck 4, and sub- vehicle 2 is back and forth when preventing transport It swings (not shown in figure), wherein the corresponding numbering area of sub- vehicle 2 has just been set when deck 4 makes in compartment, is compiled Number be also maximally utilized from No. 1 to several numbers until deck 4 and 5 space of platform floor, and number from small to large, from a left side To it is right, from the inside to surface, be from top to bottom sequentially arranged, so that sub- vehicle 2 gets on the bus and parks.

Step S22: female 1 deck lifting process of vehicle, after the sub- vehicle 2 on deck 4 is stopped completely, last is on deck 4 The sub- vehicle 2 stopped issues the signal that request deck 4 is lifted to female vehicle 1, and female vehicle 1 receives after signal control and is lifted steel by deck Rope 15 drives deck 4 to be promoted on vertical track 7, and the card on vertical track 7 will be arranged on by being lifted to certain position quarter deck 4 Sliding block annulus 10 blocks, and goes up and down driving motor 3 at this time and stops operating immediately, while the sliding block card outstanding inside vertical track 7 It is from the lower section for being close to cylinder-shaped sliding block 9 that cylinder-shaped sliding block 9 is fixed to determine device 8, its downslide is prevented, at this time with cylinder-shaped sliding block 9 connected decks 4 are fixed, and then female vehicle 1 issues the platform floor 5 that lower trolley 2 of request signal of getting on the bus reaches female vehicle 1, Repeat the above steps the process of getting on the bus of S21 neutron vehicle 2, until all upper female vehicle 1 of all sub- vehicles 2, wherein when platform floor 5 is fully parked with It is limited in view of the cabin space of female vehicle 1 to be best, using platform floor 5 as last deck, the compartment of platform floor 5 and female vehicle 1 Bottom plate is fixed, and issues the signal that request is closed the door to female vehicle 1 after female vehicle 1 is stopped well on last sub- vehicle 2, female vehicle 1 receives signal Hoisting type car door 6 is shut in control afterwards, and after hoisting type car door 6 is shut, female vehicle 1 is dispatched a car before female vehicle optimal route automatic Pilot Past target anchor point,

Step S3: transportational process: female vehicle 1 carries sub- fleet and drives towards target anchor point by optimal route and stop automatically, and 2 delivery of sub- vehicle later and female vehicle 1 carry sub- fleet and go to terminal, wherein female vehicle 1 and sub- vehicle 2 are each equipped with unpiloted Complete set of equipments and unmanned control system；

Step S4: process of getting off: after female vehicle 1 is stopped well, female vehicle 1 issues door open command, and hoisting type car door 6 is opened, and sub- vehicle 2 is pressed It gets off according to the get on the bus inverse process of process of above-mentioned steps S2, sub- vehicle 2 is successively got off by the reverse order got on the bus, on platform floor 5 Sub- vehicle 2 all get off after, female vehicle 1 is lifted 5 inverse process of platform floor and falls 5 iteron vehicle of platform floor, 2 vehicle process, until sub- vehicle Team all gets off, and female vehicle 1 closes hoisting type car door 6, wherein female 1 original place of vehicle waits the sub- vehicle 2 for having sent goods to come back at first just to beat Opened carriage door 14.

Step S5: delivery process: each sub- vehicle 2 is just matched according to the regulation of oneself is optimal immediately after getting on or off the bus from female vehicle 1 It send route to go to dispatching region, and successively arrives each targeted sites dispatching cargo by the dispatching sequence on optimal distribution route, In, when only need directly to unload to targeted sites, then only need sub- vehicle 2 after targeted sites are stopped automatic unloading or by The staff of targeted sites assists unloading, is then departed from and continues to next targeted sites, when being to give target customer's dispatching Goods part, then the first few minutes that targeted sites are reached in sub- vehicle 2 send request client to client and prepare to targeted sites picking Information (Article 2 information), sub- vehicle 2 sends request client to targeted sites picking to client after sub- vehicle 2 reaches targeted sites Information (Article 3 information), when presetting unmanned picking in the maximum picking time in target customer, then sub- vehicle 2 marks the goods part For non-picking part, which carries always quilt vehicle 2, takes back with female vehicle 1 until delivery next time, the goods part of the targeted sites Quilt vehicle 2 also is thought to complete by dispatching task, and sub- vehicle 2 continues to next targeted sites, until sub- vehicle 2 is the last of oneself After the completion of one goods part dispatching task, sub- vehicle 2 returns to target anchor point by the optimal route back to target anchor point of regulation；

Step S61: the process of getting on the bus of making a return voyage, after completing goods part dispatching task, back to target anchor point first sub- vehicle 2 just It is renumbered as No. 1, and issues the signal of door opening request to female vehicle 1, female vehicle 1 opens lift-type car door 6, and sub- vehicle 2 is pressed It gets on the bus according to the process of above-mentioned steps S2, is successively renumbered as No. 2,3 in order back to the sub- vehicle 2 of target anchor point later Number ... to the last one, so that all sub- vehicles 2 are not necessarily in the stop of target anchor point but directly get on the bus, wherein group vehicle Certain the sub- failure of vehicle 2 in team can not return to target anchor point, then the sub- vehicle 2, which is just sent to control centre, general headquarters, event occurs The message of barrier waits the relevant personnel to bring it back into maintenance, and the sub- vehicle 2 is rejected from sub- fleet,

Step S62: process of making a return voyage, to complete vehicle on all sub- vehicles 2 of sub- fleet, female vehicle 1 closes lift-type car door 6, lift-type compartment Door 6, which shuts stepmother's vehicle 1 and carries sub- vehicle 2, goes to terminal along female 1 optimal route automatic Pilot of vehicle, wherein and terminal is set as starting point, Stepmother's vehicle 1 of reaching home is stopped, and is got off according to the get on the bus inverse process of process of above-mentioned steps S2, the sub- vehicle 2 in sub- fleet is all got off Afterwards, lift-type car door 6 is closed, and the sub- vehicle 2 for carrying non-picking part also needs goods part to be discharged to required location, waits work Personnel handle non-picking part, complete dispatching task.

In above-mentioned steps S14: in the planning process of the optimal dispatching of sub- vehicle 2 and return route,

Step S1410: determining highway route design task, that is, determines the sub- cargo to be dispensed of vehicle 2, and determines what sub- vehicle 2 to be reached The number and location information of targeted sites；

Step S1411: taking N=6, by taking the B of 2 work song vehicles 2 dispenses region as an example, if B dispatching region includes 7 targeted sites altogether, respectively Targeted sites number are as follows: B1, B2, B3, B4, B5, B6, B7；Target anchor point number is O；

Step S1413: the distance of adjacent point-to-point transmission potential route in each default route is calculated by " A* algorithm ", and collects statistics The information data of real-time road, such as route O-B2, B2-B7, B7-B5, B5-B1, B1-B3, B3-in the 1st default route B6, B6-B4, B4-O distance are denoted as respectively: L (O-B2), L (B2-B7), L (B7-B5), L (B5-B1), L (B1- B3),L(B3—B6),L(B6—B4),L(B4—O)；

Step S1414: integrating distance and real-time road condition information data calculate the minimum score of adjacent point-to-point transmission in each default route, And then acquire the total score of each default route；Score meets scoring function relationship Q=Q (L) with distance, real-time road condition information data, The function is obtained by the score weight of " A* algorithm ", such as Q (L)=kL²(wherein, L is the variable for representing distance to+L+b, and k, b are Algorithm coefficient relevant to real-time road condition information data), the distance of point-to-point transmission potential route adjacent in default route and in real time Traffic information data substitute into scoring function, take minimum score, as obtaining in the 1st default route is denoted as respectively: Q (O-B2), Q (B2-B7), Q (B7-B5), Q (B5-B1), Q (B1-B3), Q (B3-B6), Q (B6-B4), Q (B4-O) are obtained this 8 Split-phase add the 1st default route total score Q1, with adjust the 2nd default route total score Q2 ... ... until the 10th is default The total score Q10 of route, totally 10 numbers；

Step S1417: for this five elite sequence groups, the score of each group is recalculated respectively, Comparison score height obtains and divides Default route corresponding to minimum elite sequence group is as the optimal dispatching of 2 work song vehicle 2 and return route.Similarly seek other each sons The optimal dispatching of vehicle 2 and return route.

In step S14: in the planning process of the optimal dispatching of sub- vehicle 2 and return route, if the mesh for including in dispatching region Labeling station points are less than or equal to N, then execute following Global Algorithm, and N is the number less than 10, and numerical value is artificial defined and smaller It is better, for reducing operation times, the calculation step of the Global Algorithm are as follows:

Step S1420: determining highway route design task, that is, determines the sub- cargo to be dispensed of vehicle 2, and determines what sub- vehicle 2 to be reached The number and location information of targeted sites,；

Step S1421: taking N=6, by taking the A of 1 work song vehicle 2 dispenses region as an example, if B dispatching region includes 5 targeted sites altogether, gives A dispenses each targeted sites number in region are as follows: A1, A2, A2, A3, A4, A5；Target anchor point number is O；

Step S1423: the distance of adjacent point-to-point transmission potential route in each default route is calculated by " A* algorithm ", and collects system The information data for counting real-time road, as route O-A2 in the 1st default route, A2-A5, A5-A1, A1-A3, A3-A4, The distance of A4-O is denoted as respectively: L (O-A2), L (A2-A5), L (A5-A1), L (A1-A3), L (A3-A4), L (A4- O)；

Step S1424: integrating distance and real-time road condition information data calculate the minimum score of adjacent point-to-point transmission in each default route, And then the total score of each default route is acquired, adjacent point-to-point transmission score and distance, real-time road meet scoring function relationship Q=Q (L), which is obtained by the score weight of " A* algorithm ", such as Q (L)=kL²+ L+b, (wherein, L is the variable for representing distance, K, b is algorithm coefficient relevant to real-time road condition information data), the distance of point-to-point transmission potential route adjacent in default route and Real-time road condition information data substitute into scoring function, take minimum score, as obtaining in the 1st default route is denoted as respectively: Q (O-A2), This 6 scores are added to obtain the 1st default route by Q (A2-A5), Q (A5-A1), Q (A1-A3), Q (A3-A4), Q (A4-O) Total score Q1, with adjust the 2nd default route total score Q2, the total score Q3 ... ... of the 3rd default route until calculate the The total score Q120 of 120 default routes；

Step S1425: the total score height of more each default route, that is, compare Q1, Q2, Q3 ..., Q120 totally 120 it is several Size takes wherein minimum value, using default route corresponding to the minimum value as the optimal dispatching of sub 2 vehicles and return route.

Claims

1. a kind of freight transport system based on unmanned son, female vehicle characterized by comprising the mother with unmanned function Vehicle, the sub- vehicle with unmanned function and the control system for controlling female vehicle and sub- vehicle, be provided in the compartment of mother's vehicle to The tail portion on few four groups of deck lifting devices and one piece of deck being mounted on the lifting device, mother's vehicle is provided with hoisting type Car door, the deck lifting device include: vertical track, sliding block fastening device, cylinder-shaped sliding block, card sliding block annulus, lifting Driving motor, deck are lifted cable wire, and the both ends of the vertical track are vertically connected on the top cover and bottom plate in the compartment, described Sliding block fastening device is embedded in the mounting groove of vertical track, and the installation site of the mounting groove is the terminal position that deck can rise Set, card sliding block annulus fixing is scheduled on the vertical track, four corner locations on the deck be provided with it is described The connected cylinder-shaped sliding block in deck, the cylindrical shape slide block set on the vertical track and can with the deck along The vertical track slides up and down, and described deck lifting cable wire one end and the deck are connected, and the deck lifting cable wire is another It holds and is connect with the shaft of the lifting driving motor, the lifting driving motor is mounted on the side wall in the compartment, the first It is provided with multiple sub- vehicle docks on the upper surface of plate and platform floor, is provided on every sub- vehicle docks for solid The wheel fixing device of stator vehicle；The hoisting type car door includes: that car door, two switch gate cable wires and two switch gates drive Dynamic motor, the car door are hinged on the tail edge of the platform floor, and the switch gate driving motor is arranged close to institute It states on the side wall of the compartment two sides of car door position, one end of the switch gate cable wire is connected in the car door, institute The other end for stating switch gate cable wire connect with the switch gate driving motor and is controlled by it the flexible of cable wire, the control system It include: control centre, general headquarters, the unmanned control system of sub- vehicle and the unmanned control system of female vehicle, the control centre, general headquarters Be responsible for include: the setting of target anchor point, the planning of female vehicle optimal route, the optimal dispatching of sub- vehicle and return route planning, son Vehicle dispense the division in region, the number of sub- vehicle, the long-range control to sub- vehicle and female vehicle, default unloading or the setting of picking time, The collection of real-time road condition information data and statistics, information processing system.

2. a kind of freight transport system based on unmanned son, female vehicle according to claim 1, which is characterized in that every group of institute Stating deck lifting device is four deck lifting devices, and the deck is one layer.

3. a kind of shipping method of the freight transport system based on unmanned son, female vehicle, which comprises the following steps:

Step S1: preparation process, the preparation process include:

Step S11: the setting to target anchor point,

Step S12: female vehicle optimal route planning,

Step S13: the division in sub- vehicle dispatching region,

Step S15: first information is sent to client；

Step S16: the filling of fuel or the supplement of electricity,

Step S17: the loading of sub- vehicle dispatching cargo；

Step S21: sub- vehicle is got on the bus process；

Step S22: female vehicle deck lifting process；

Step S4: process of getting off: after female vehicle is stopped, female vehicle issues door open command, and car door is opened, and sub- vehicle is according to above-mentioned steps The get on the bus inverse process of process of S2 is got off: the opposite sequence of sub- vehicle by number on platform floor is got off, and the sub- vehicle on platform floor is all After getting off, female vehicle falls deck, repeats the same process of getting off of sub- vehicle on platform floor, female until sub- fleet all gets off Vehicle closes car door, and later, female vehicle original place waits the sub- vehicle for having sent goods to come back at first just to open car door；

Step S5: delivery process: each sub- vehicle from female vehicle get on or off the bus after just immediately according to the optimal distribution route of the regulation of oneself Dispatching region is gone to, and successively arrives each targeted sites dispatching cargo by the goods delivery sequence on optimal distribution route, wherein When only need directly to unload to targeted sites, then only need sub- vehicle is automatic after targeted sites are stopped to unload or by target The staff of website assists unloading, is then departed from and continues to next targeted sites；When being to client with delivery part, then Information of the request client's preparation to targeted sites picking, sub- Che Ji are sent to client in the first few minutes that sub- vehicle reaches targeted sites Continue and advance to targeted sites, sub- vehicle sends the letter for requesting client to targeted sites picking to client after sub- vehicle reaches targeted sites Breath, when presetting unmanned picking in the maximum picking time, then the goods part is labeled as non-picking part by sub- vehicle, and the goods part is by quilt Vehicle carries always, takes back with female vehicle until delivery next time, the goods part dispatching task of the targeted sites has also thought quilt vehicle At, sub- vehicle continues to next targeted sites, after the completion of the last one goods part dispatching task of sub- handlebar oneself, sub- vehicle Target anchor point is returned by the route back to target anchor point for providing optimal；

Step S61: the process of getting on the bus of making a return voyage,

Step S62: process of making a return voyage.

4. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 3, feature exist In,

Step S14: the optimal dispatching of the sub- vehicle and the planning of return route include: according to the responsible dispatching region of each sub- vehicle away from Distance from targeted sites, to each sub- vehicle number from No. 1 to several numbers, 1 work song vehicle is responsible for A dispatching region, 2 work song vehicles are responsible for B dispenses region ..., and the rest may be inferred, and farther out, getting on the bus for sub- vehicle is suitable for the responsible dispatching region distance targeted sites of the small sub- vehicle of number Sequence are as follows: 1 work song vehicle first on, then to 2 work song vehicles ... until the maximum sub- vehicle of number；Take the sub- Che Zucheng of same female vehicle One Ge Zi fleet determines that each sub- vehicle dispenses the sequencing of cargo by " random algorithm " or " Global Algorithm ", and designs The optimal dispatching of each sub- vehicle and return route out, and to respectively dispensing targeted sites in optimal dispatching and return route by matching The sequencing number sent,

Step S15: described to send first information to client include: to design sub- vehicle after the traffic route for planning good sub- vehicle and arrive Default unloading or default picking time up to each targeted sites, wherein group vehicle is that when matching delivery part to client, then do not having Sub- vehicle sends the information that request client arrives targeted sites picking within the default picking time to target customer before dispatching a car；

Step S16: the filling of the fuel or the supplement of electricity include: to female vehicle and each sub- vehicle addition fuel or electricity；

Step S17: the loading of the sub- vehicle dispatching cargo includes: that the cargo distributed is put into correspondence respectively in warehouse Son it is interior.

5. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 3, feature exist In,

Step S22: mother's vehicle deck lifting process includes: after the sub- vehicle on deck stops full, last is above deck The sub- vehicle stopped issues the signal that request deck is lifted to female vehicle, and control deck lifting motor drives first after female vehicle receives signal Plate is promoted, and female vehicle issues the platform floor that lower trolley of request signal of getting on the bus reaches female vehicle, and repeat the above steps S21 neutron vehicle The process of female vehicle is reached, sub- vehicle by the fixation device being mounted on platform floor is fixed on corresponding volume after coming to a complete stop by each sub- vehicle On the platform floor in number region, after all upper female vehicle of all sub- vehicles, last sub- vehicle reaches after female vehicle is stopped to female vehicle The signal that request is closed the door is issued, control switch door driving motor traction switch gate cable wire shuts car door after female vehicle receives signal, After car door is shut, female vehicle, which is dispatched a car, goes to target anchor point along female vehicle optimal route automatic Pilot.

6. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 3, feature exist In,

7. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 5, feature exist In in step S21: the sequencing of sub- vehicle by number successively lines up automatically to drive towards female vehicle, the process of female vehicle release car door In, drive the switch gate cable wire of car door two sides at the uniform velocity to discharge using switch gate driving motor, one end of the car door is along vehicle The hinged shaft of compartment bottom plate rotates, and the other end of the car door, which drop to ground, makes car door become the ramped aisle that sub- vehicle is got on the bus.

8. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 5, feature exist In lifting driving motor in control deck drives in the lifting process of deck after female vehicle of step S22 receives signal, is driven using lifting Dynamic motor pull line is to drive deck to be promoted on vertical track, wherein four corner locations on the deck are respectively provided with There is the cylinder-shaped sliding block being connected with deck, the cylindrical shape slide block set is on the vertical track and can be with the deck It is slided up and down along the vertical track, blocks deck using the sliding block fastening device in the mounting groove for being embedded in vertical track and prevent It is moved downward, and is limited using the position that the card sliding block annulus being fixed on vertical track promotes deck, when deck is lifted Rising sliding block fastening device when encountering card sliding block annulus, protrusion is moved downward out of mounting groove with limiting deck immediately, and same in this When lifting driving motor stop operating immediately, so that deck is limited between sliding block fastening device and card sliding block annulus.

9. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 4, feature exist In in step S14: in the planning process of the optimal dispatching of sub- vehicle and return route, if the targeted sites for including in dispatching region It counts and is greater than N, then execute following " random algorithm ", N is the number less than 10, and numerical value is artificial defined and the smaller the better, use In reduction operation times, the calculation step of " random algorithm " are as follows:

Step S1412: combining the number random alignment of this 7 targeted sites, generate 10 random sequence groups, and the such as the 1st is random Sequence group: B2B7B5B1B3B6B4；2nd random sequence group: B4B1B6B7B3B5B2；And volume is added in random sequence group head and the tail The O of number O, random sequence group and head and the tail constitutes a kind of default route；Such as the 1st default route: O-B2-B7-B5-B1-B3- B6—B4—O；Such as the 2nd default route: O-B4-B1-B6-B7-B3-B5-B2-O shares 10 kinds of default routes；

Step S1414: integrating distance and real-time road condition information data calculate the minimum score of adjacent point-to-point transmission in each default route, And then acquire the total score of each default route；Score meets scoring function relationship Q=Q (L) with distance, real-time road condition information data, The function is shown that taking scoring function is Q (L)=kL by the score weight of " A* algorithm "²+ L+b, wherein L is the change for representing distance Amount, k, b are algorithm coefficients relevant to real-time road condition information data, the distance of point-to-point transmission potential route adjacent in default route Scoring function is substituted into real-time road condition information data, takes minimum score, as obtaining in the 1st default route is denoted as respectively: Q_O—B2、 Q_B2—B7、Q_B7—B5、Q_B5—B1、Q_B1—B3、Q_B3—B6、Q_B6—B4、Q_B4—O, this 8 scores be added the 1st default route total score Q1, with adjust the 2nd default route total score Q2 ... ... until the total score Q10 of the 10th default route, totally 10 numbers；

Step S1416: the number of 7 targeted sites in B dispatching region, random alignment is combined again, and regeneration 10 is different Random sequence group, and the 10 kind default routes new with O composition, the S1412 that repeats the above steps, step S1413, step S1414, Step S1415 finds out elite sequence group 2；Similarly, above-mentioned steps S1412, step S1413, step S1414, step are repeated S1415 three times, successively finds out elite sequence group 3, elite sequence group 4, finds out elite sequence group 5；

Step S1417: for this five elite sequence groups, the score of each group is recalculated respectively, Comparison score height obtains and divides Default route corresponding to minimum elite sequence group similarly seeks other each sons as the optimal dispatching of 2 work song vehicles and return route The optimal dispatching of vehicle and return route.

10. a kind of shipping method of freight transport system based on unmanned son, female vehicle according to claim 4, feature It is, in step S14: in the planning process of the optimal dispatching of sub- vehicle and return route, if the Target Station for including in dispatching region Points are less than or equal to N, then execute following Global Algorithm, and N is the number less than 10, numerical value be it is artificial as defined in and it is smaller more It is good, for reducing operation times, the calculation step of the Global Algorithm are as follows:

Step S1420: determining highway route design task, that is, determines the sub- vehicle cargo to be dispensed, and determine the sub- vehicle mesh to be reached The number and location information of labeling station point；

Step S1424: integrating distance and real-time road condition information data calculate the minimum score of adjacent point-to-point transmission in each default route, And then the total score of each default route is acquired, adjacent point-to-point transmission score and distance, real-time road meet scoring function relationship Q=Q (L), which is obtained by the score weight of " A* algorithm ", and taking scoring function is Q (L)=kL²+ L+b, wherein L is to represent distance Variable, k, b are algorithm coefficients relevant to real-time road condition information data, point-to-point transmission potential route adjacent in default route Distance and real-time road condition information data substitute into scoring function, take minimum score, as obtaining in the 1st default route is denoted as respectively: Q_O—A2、Q_A2—A5、Q_A5—A1、Q_A1—A3、Q_A3—A4、Q_A4—O, this 6 scores be added the 1st default route total score Q1, similarly Calculate the 2nd default route total score Q2, the total score Q3 ... ... of the 3rd default route until calculate the 120th default route it is total Score Q120；