CN111598481A - Shared bicycle flow system, automatic scheduling system and method based on sub-area division - Google Patents
Shared bicycle flow system, automatic scheduling system and method based on sub-area division Download PDFInfo
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Abstract
The shared bicycle flow system comprises an overground conveying device arranged at each bicycle taking and placing point, an underground conveying device connected with the overground conveying device at each bicycle taking and placing point, and a multi-layer storage device capable of providing bicycles for the overground conveying device or the underground conveying device; the adjacent bicycle taking and placing points and the ground storage devices are connected through the ground conveying device or the underground conveying device to form a mobile conveying network sharing the bicycles. The mobile system provided realizes linkage of stations in a certain area, forecasts the demand of each station by a comprehensive demand forecasting method, then performs dynamic sub-area division to form a demand dispatching scheme of each station in the sub-area, and finally realizes automatic transportation of a shared single vehicle according to the dispatching scheme, thereby providing efficient and convenient vehicle access service for users to the maximum extent when the users have demands.
Description
Technical Field
The disclosure relates to the technical field of shared bicycle correlation, in particular to a shared bicycle flow system, and an automatic scheduling system and method based on sub-area division.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In recent years, the appearance of the shared bicycle perfects a public transportation system, solves the problem of 'last kilometer' of citizens going out, accords with the living idea of green environmental protection, and generates a series of problems along with the rapid increase of the number of the shared bicycles. In streets and alleys in cities, the problem that single cars are parked in disorder and placed is gradually prominent, the phenomenon that the single cars can be parked in no way and in no place causes the attention of all social circles, the implementation of a series of measures such as standardizing parking points and popularizing electronic fences and the like, although the parking problem is standardized to a certain extent, the convenience and the randomness of shared traveling are relatively weakened, the problems of difficulty in finding cars and parking are caused, and the user experience is poor; at present, all the shared bicycle stations are scattered, which is not beneficial to coordination control and has great difficulty in centralized management.
The inventor finds that the following problems mainly exist in the field of shared bicycle transportation at present:
firstly, all the vehicles need to be transported by manpower, and the coverage area of the shared vehicle is wide, so that a large amount of manpower resources can be consumed, and the problem of untimely scheduling exists; although some inventions propose some shared bicycle carrying vehicles and some carrying devices, the carrying vehicles are influenced by the surrounding environment when realizing automatic transportation, and have great unsafe factors. Although a carrying device is arranged, personnel are still needed to realize transportation between the shared bicycle stations, manpower is greatly consumed, the problems of limited dispatching personnel and untimely dispatching exist, and the user requirements cannot be well met.
Secondly, the problem that the number of the shared bicycles at each station is unbalanced with the actual demand is common, and the shared bicycles cannot well meet the user demand. In the field of shared bicycle demand forecasting, the prior art mainly utilizes some algorithms of machine learning to analyze a historical data building model of a shared trip for forecasting, does not fully consider the essential demand of a combined user, and can improve the accuracy of demand forecasting to a certain extent from the perspective of user demand; meanwhile, the consideration factors are incomplete, the variation factors of the environment around the station are not fully considered, and the influence of the attraction points around the station on the variation of the demand is ignored.
Thirdly, in the aspect of a shared bicycle scheduling method, the intrinsic relevance among all stations is mainly considered, the influence of intrinsic characteristics and surrounding environment characteristics of all stations is not fully considered, the scheduling effectiveness cannot be met, and therefore invalid scheduling work is continuously performed, and a large amount of resources are wasted.
Disclosure of Invention
The flow system realizes linkage of stations in a certain area, forecasts the demand of each station through a comprehensive demand forecasting method, then performs dynamic sub-area division to form a demand dispatching scheme of each station in the sub-area, and finally realizes automatic transportation of the shared bicycle according to the dispatching scheme, so that efficient and convenient vehicle access service is provided for users to the maximum extent when the users have demands.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a first object of the present disclosure is to provide a shared bicycle streaming system, comprising an above-ground transport device provided at each bicycle pick-and-place, an underground transport device connecting the above-ground transport devices of each bicycle pick-and-place, and a multi-story storage device capable of providing a bicycle to the above-ground transport device or the underground transport device; the adjacent bicycle taking and placing points and the ground storage devices are connected through the ground conveying device or the underground conveying device to form a mobile conveying network sharing the bicycles.
A second object of the present disclosure is to provide an automatic scheduling method based on sub-area division, comprising the steps of:
acquiring single vehicle taking and placing data of the single vehicle taking and placing points, and predicting the demand quantity of each single vehicle taking and placing point based on a method for fusing user demands and sharing travel attraction by a random forest algorithm;
according to the prediction result of the demand, based on the tree branch and the combination of internal and external factors, performing dynamic division on the sub-area of the single-vehicle pick-and-place point, and generating a scheduling scheme according to the division result;
the control of the scheduling is performed according to a scheduling scheme.
The third purpose of the present disclosure is to provide an automatic scheduling system based on sub-area division, which includes the above-mentioned shared single-vehicle flowing system, and a control platform for sending scheduling instructions to the shared single-vehicle flowing system; the control platform comprises a shared bicycle demand prediction system and a dynamic subarea division scheduling system;
the shared single-vehicle demand prediction system is configured to execute a shared single-vehicle demand prediction method in the automatic scheduling method based on the sub-area division;
alternatively, the dynamic subdivision scheduling system is configured to perform the dynamic subdivision scheduling method of the above-mentioned subdivision-based automatic scheduling method.
Compared with the prior art, the beneficial effect of this disclosure is:
(1) the shared bicycle flow system disclosed by the invention combines and utilizes the above-ground and underground spaces, a vehicle conveying network is formed in a non-isolated and non-isolated condition zone, all shared bicycle demand areas are basically covered in a certain area, vehicles on a storage device or a conveying track are conveyed to each bicycle pick-and-place point according to the needs, the bicycle pick-and-place points do not need to store a large number of bicycles for a long time, the area requirements of the bicycle pick-and-place points can be met in a smaller area, and a plurality of continuous bicycle pick-and-place points are arranged in the flow system, so that a user can conveniently and quickly pick up the bicycle in the area along the line; meanwhile, the storage device is of a multilayer structure, so that the occupied area for storing the bicycle can be reduced. The limitation of the original manpower participating in dispatching transportation is broken through, and the problems of limited dispatching personnel, untimely dispatching and the like can be avoided; the parking behavior of a user can be effectively normalized, the problem of disorderly parking and disorderly placing is avoided, vehicles can be efficiently dispatched, and the problems of difficulty in using the vehicles and difficulty in parking can be solved.
(2) The shared bicycle demand forecasting method disclosed by the invention is based on the random forest algorithm, combines the user demand and the shared travel attraction, can accurately obtain the user demand, improves the scheduling accuracy, reduces or avoids the execution of invalid scheduling, reduces the scheduling times and improves the scheduling execution efficiency of the system.
(3) According to the dynamic subarea division scheduling method, dynamic subarea division scheduling is carried out by integrating internal and external factors based on a tree branch principle, and by combining a shared bicycle demand prediction method which is based on a random forest algorithm and integrates user demands and shared travel attractiveness in the second aspect of the method, the shared bicycle flow system based on human-non-isolation or machine-non-isolation in the first aspect of the method is supplemented and optimized, so that a demand scheduling scheme in each subarea can be formed, and the user scheduling demands are met to the maximum extent.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.
FIG. 1 is a schematic diagram of the flow system configuration of example 1 of the present disclosure;
fig. 2 is a schematic structural diagram of a storage device according to embodiment 1 of the disclosure;
fig. 3 is a schematic structural diagram of each memory layer in the storage device according to embodiment 1 of the present disclosure;
FIG. 4 is a schematic view showing the arrangement position of a flow system device in the flow system according to embodiment 1 of the present disclosure;
figure 5 is a schematic structural view of an over-the-ground transport device of embodiment 1 of the present disclosure;
FIG. 6 is a schematic structural view of an underground conveying apparatus according to embodiment 1 of the present disclosure;
fig. 7 is a schematic structural view of a single vehicle carrying device according to embodiment 1 of the present disclosure;
fig. 8 is a schematic structural view of an intelligent induction electronic lock in the bicycle carrying device according to embodiment 1 of the present disclosure;
fig. 9 is a block diagram of an automatic scheduling system based on subdivision of sub-regions according to embodiment 2 of the present disclosure;
fig. 10 is a flowchart of a shared bicycle demand prediction method according to embodiment 3 of the present disclosure;
fig. 11 is a flowchart of a dynamic subdivision scheduling method of embodiment 4 of the present disclosure;
fig. 12 is a control method of performing scheduling of embodiment 5 of the present disclosure;
wherein: 1. a guard rail, 2, a ground transportation rail, 3, a position sensor, 4, an automatic telescopic door, 5, a door opening button, 6, a vehicle taking button, 7, a vehicle parking button, 8, a single vehicle carrying device, 9, an inductive intelligent lock, 10, a reed pipe, 11, a magnet, 12, a driving motor, 13, a positioning device, 14, an electronic lock fixing base, 15, a solar cell panel, 16, an induction device, 17, a storage device, 18, a single vehicle inlet, 19, a single vehicle outlet, 20, a first storage layer, 21, a second storage layer, 22, a third storage layer, 23, a spiral lifting rail, 24, an inlet and outlet rail, 25, a vehicle storage area, 26, an underground conveying device, 27, an underground transportation rail, 28, a fixing platform, 29, a telescopic driving power device, 30, a pressure telescopic device, 31, a single vehicle bearing part, 32, a pressure sensor, 33, a machine non-isolation green belt, 34. road, 35, control module, 36, upright post, 37, device for fixing bicycle in vehicle storage area, 38, telescopic device, 39 and main controller.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
Example 1
In the solution disclosed in one or more embodiments, as shown in fig. 1-8, the shared single-car flow system comprises an above-ground conveyor arranged at each single-car pick-and-place, an underground conveyor connecting the above-ground conveyors of each single-car pick-and-place, and a multi-level storage 17 capable of providing single-cars for the above-ground conveyor or the underground conveyor; the above-ground storage devices 17 are connected to the above-ground transport device or the underground transport device at the pick-and-place points of the adjacent single vehicles to form a mobile transport network sharing the single vehicles.
The storage device 17 is used for storing the single vehicles, and the ground conveying device and the underground conveying device are used for conveying the single vehicles to each single vehicle taking and placing point according to the requirements of the single vehicles.
In the embodiment, the ground and underground spaces are utilized to form a vehicle conveying network, vehicles in the storage device 17 or the conveying track are conveyed to each single-vehicle taking and placing point according to needs, a large number of single vehicles do not need to be stored at the single-vehicle taking and placing points for a long time, and the area requirement of the single-vehicle taking and placing points can be met in a small area. The storage device 17 is of a multi-layer structure, so that the occupied area for storing the single cars can be reduced, the storage device 17 on the ground can store the single cars uniformly, and when the single cars are required at each picking and placing point, a certain number of single cars are thrown at each picking and placing point through an overground conveying device or an underground conveying device.
As shown in figure 4, taking a conventional intersection as an example, the overground conveying device is arranged at a non-isolated green belt 33, the underground conveying device can be arranged below a road 34, and the influence of the flowing system on road traffic can be effectively avoided by arranging the overground conveying device and the underground conveying device.
Optionally, the storage device 17 is used for storing the bicycle and can be arranged underground or on the ground, and preferably, the storage device is arranged on the ground, so that the construction cost can be effectively reduced.
Alternatively, the storage device 17 may be located as desired, and the storage device 17 may be located near a single access point with a large vehicle load, with one or more single access points sharing a single ground storage device 17. In particular, it may be placed in suitable zones near non-isolated areas of the machine or persons, such as green belts on both sides of the road.
As shown in fig. 1, the storage device 17 is connected to the above-ground transport device in a schematic configuration, and fig. 5 is a schematic configuration of the above-ground transport device alone.
The storage device 17 may be of a construction as shown in fig. 1 and 2, comprising a device housing constituting a receiving space for a bicycle, a plurality of storage levels provided in the housing, and transport tracks capable of moving and transporting the bicycle between the respective storage levels, the transport tracks being provided at each storage level with an entrance and an exit of the transport track to the storage level, respectively.
This embodiment may provide three layers as an example, a first storage layer 20, a second storage layer 21, and a third storage layer 22.
It will be appreciated that the lowest storage level is provided with a single vehicle entrance 18 and a single vehicle exit 19, each connected to an above ground or below ground conveyor for moving a single vehicle to the storage 17 or for transporting a single vehicle from the storage 17 to a respective single vehicle pick-and-place.
In some embodiments, the specific structure of the transportation track may be: the spiral type ascending rotating track structure comprises a stand column 36 arranged in the shell and a spiral type ascending track 23 fixed on the stand column.
Alternatively, as shown in fig. 3, each storage floor includes an entrance track 24 provided at the floor in connection with the spiral rising track 23, and a vehicle storage area 25 in connection with the entrance track 24 through a track.
In order to increase the storage area of the storage area vehicles, the vehicles are placed as many as possible, the vehicle storage area 25 is arranged to be an inclined plane with a certain radian and angle, and a single vehicle fixing device 37 is arranged on the inclined plane; alternatively, the bicycle fixing device 37 can be provided as a clamping device, with two clamping blocks being provided, the movement of which is controlled by pneumatic or electric means.
In order to transport the single vehicles between the above-ground transport device, the underground transport device and the storage device 17, fixing devices for placing the single vehicles can be arranged in each device, for example, a fixing platform can be arranged on the track, a carrying device which can move independently can be arranged, and a single vehicle carrying device 8 which can move freely relative to each device can be arranged.
As a structure that can be realized, all the bicycle pick-and-place points are further provided with a control module 35, as shown in fig. 7 and 8, the bicycle carrying device 8 includes a bottom plate, a driving device and a bicycle fixing device that are arranged on the bottom plate and drive the bottom plate to move, a bicycle information recognition device, a main controller 39 and a wireless communication module, the main controller 39 is respectively connected with the driving device, the bicycle fixing device, the bicycle information recognition device and the wireless communication module, and the main controller 39 is wirelessly connected with the control module 35.
Specifically, the driving device may be electrically driven, and includes a driving motor 12, a power supply battery connected to the driving motor 12, and a moving mechanism connected to the driving motor 12, preferably, a solar panel 15 may be further provided, and the solar panel 15 is electrically connected to the power supply battery to provide electric energy for the driving motor. The moving mechanism may be wheels, crawler wheels, or a crawler.
Optionally, the control module 35 may adopt a single chip microcomputer.
Optionally, the bicycle fixing device may include an inductive smart lock 9 and an inductive device 16 fixed on the bottom plate, and the inductive smart lock 9 and the inductive device 16 are electrically connected to the main controller 39 respectively for transmitting the inductive information to the control module 35. When sensing that the shared bicycle is placed on the carrying device 8, the inductive intelligent lock 9 is automatically locked.
The inductive intelligent lock can be set to be in any shape, such as an arc shape or a polygon shape.
The sensing device 16 may be a pressure sensor for determining whether a bicycle is placed on the floor, improving the reliability of the operation of the bicycle carrier device 8 and providing the accuracy of the bicycle placement information.
It is understood that an electronic lock fixing base 14 is also included for fixing the lock body of the induction type smart lock 9.
Optionally, the information identification device comprises a reed switch 10 arranged on the shared bicycle, a telescopic device 38 arranged on a bottom plate of the bicycle carrier device 8 and opposite to the reed switch 10, and a magnet 11 arranged at the top end of the telescopic device 38, wherein the telescopic device 38 is electrically connected with the main controller 39, and the reed switch 10 is wirelessly connected with the main controller.
After induction system 16 senses the signal, the main control unit 39 with sensing signal transmission for conveyer, control telescoping device 38 and pop out a take the altitude, make magnet 11 at top be close to the tongue tube 10 in the near bottom casing of shared bicycle footboard, the tongue tube 10 is closed, can communicate the central control unit of shared bicycle, central control unit passes through wireless mobile communication module and transmits the lock signal for main control unit 39, and then control induction type intelligence lock 9 and close the lock, the automatic shrink of flexible subassembly is returned in the conveyer.
Further, the lock closing information of the inductive intelligent lock 9 on the bicycle carrying device 8 of the embodiment is linked with the shared bicycle background system, and the shared bicycle background system receives the lock closing information of the lock on the shared bicycle and receives the lock closing information of the inductive intelligent lock 9, and the returning of the bicycle is successful; when the user closes the lock on the bicycle and does not receive the locking information of the induction type intelligent lock 9, the returning operation fails.
After the shared bicycle is fixed, the shared bicycle is controlled to be locked, the bicycle returning operation is realized, the parking behavior of a user can be normalized, the shared bicycle is enabled to be parked on the transportation device in the mobile system in a normalized mode, and the circulation of the shared bicycle is realized.
Optionally, to determine the specific position of the single vehicle carrier 8, the single vehicle carrier 8 may further comprise a positioning module 13. The positioning module 13 may be a GPS positioning module.
In some embodiments, the above-ground transportation apparatus may be configured as a track structure, as shown in fig. 1 or 5, the above-ground transportation apparatus includes a control module 35 and a ground transportation track 2 laid on the ground, guard rails 1 disposed on both sides of the ground transportation track 2, and a single vehicle access opening provided on the guard rails for providing access for a single vehicle, and a vehicle access interaction apparatus provided at the single vehicle access opening for receiving interaction information, and the control module 35 is in communication connection with the single vehicle carrying apparatus 8 and the vehicle access interaction apparatus through communication modules, respectively.
The control module 35 receives the information of the vehicle access interaction device to control the vehicle carrying device 8 to carry the vehicle to the corresponding position. The access vehicle interaction device is used for receiving the information of the access vehicle of the user.
Alternatively, the guard rail 1 may be a fence or a fence.
In some embodiments, the vehicle access interaction device comprises an automatic retractable door 4 arranged at the bicycle access opening, and buttons for controlling the opening and closing of the retractable door, which may comprise a door opening button 5, a vehicle taking button 6 and a vehicle parking button 7.
Still including setting up the position sensor 3 in bicycle access opening department, position sensor 3 and main control unit wireless connection, when bicycle carrier 8 removes to position sensor 3 department, position sensor 3 transmits action signal to main control unit 39, and main control unit control bicycle carrier 8 stops. The position sensor 3 can also adopt an RFID label, an RFID reader is arranged on the single vehicle carrying device 8, and when the RFID reader detects corresponding label information, the vehicle stops.
The underground transport devices 26 are used to provide underground transportation paths for vehicle transfers between individual single-vehicle pick-and-place locations or between the storage devices 17 and individual single-vehicle pick-and-place locations, where it is inconvenient to place the transport devices from the roadway, such as under the ground at some intersections.
The underground transportation device can realize the transportation of the shared bicycle from the ground to the underground and from the underground to the ground. In some embodiments, as shown in fig. 6, the underground transportation device may include an underground transportation rail 27, a pressure telescopic device 30 disposed at the underground and above ground connection port, an upper end surface of the pressure telescopic device 30 being flush with and abutting the ground when the pressure telescopic device 30 is extended to the first position, and an upper end surface of the pressure telescopic device 30 being flush with and abutting the underground transportation rail 27 when the pressure telescopic device 30 is compressed to the second position.
Alternatively, the pressure telescopic device 30 may include a bicycle carrying portion 31, a telescopic mechanism fixedly connected with the bicycle carrying portion 31 and the fixed platform 28, and a telescopic driving power device 29 electrically connected with the telescopic mechanism and arranged on the fixed platform 28. The bicycle carrying section 31 can be a carrying platform or a carrying platform with rails, the rail shape of which matches the underground transport rail 27. The fixed platform 28 provides stable support. The bicycle carrying portion 31 may also be provided with a pressure sensor 32 thereon for detecting whether a bicycle or a bicycle carrier 8 is placed on the bicycle carrying portion 31.
Specifically, the telescopic driving power device 29 may be a hydraulic driving device, a telescopic mechanism, or a pressure telescopic rod.
Further, the system may also include a control platform communicatively coupled to the control module 35 in the flow system.
The working principle of the flow system is as follows:
the vehicle taking requirement of a user is obtained through the vehicle taking and storing interaction device, the vehicle can be directly taken by pressing the door opening button, the vehicle taking button can be pressed when the current station does not have the vehicle, and the vehicle storing button can be pressed by the carrying device 8 when the current station does not stop; the storage device 17 comprises normal vehicle storage and vehicle storage to be maintained, and performs necessary supplement and storage on the vehicles in the system according to the number of the shared vehicles in the system and the demand condition; the control module 35 receives and analyzes the running information in the system in real time, and outputs a control instruction to schedule a single vehicle and a single vehicle carrying device 8 in the whole flowing system; the single-vehicle carrying device 8 carries the single vehicle according to the control dispatching instruction of the control module 35. In addition, whether the vehicle is normally parked is judged by the single vehicle carrying device 8, and when the user cannot directly access the vehicle, the control module 35 schedules a shared single vehicle or a parked single vehicle carrying device 8 of a nearby station or the storage device 17 in real time according to the condition of each station and the user requirement, so that the vehicle access requirement of the user is met to the maximum extent.
Example 2
The present embodiment provides an automatic scheduling system based on sub-area division, which performs sub-area division on a shared single vehicle according to user requirements, and performs automatic scheduling on the shared single vehicle flow system described in embodiment 1, so as to schedule each shared single vehicle or single vehicle carrying device 8 in the flow system.
As shown in fig. 9, the automatic scheduling system based on sub-area division includes the shared bicycle flow system described in embodiment 1, and a control platform that sends a scheduling instruction to the shared bicycle flow system, where the control platform includes a shared bicycle demand prediction system and a dynamic sub-area division scheduling system;
shared-vehicle demand prediction system: the system is configured to predict the user demand of each station in different periods, and obtain the predicted demand of each single vehicle pick-and-place point; and theoretical basis is provided for the number of vehicles distributed in the whole flow system.
Dynamic subdivision scheduling system: the scheduling method is configured to divide a dynamic sub-area according to the obtained predicted demand of each single vehicle pick-and-place point, schedule according to the single vehicle demand proportion of each single vehicle pick-and-place point in the sub-area, generate a scheduling scheme, and send the scheduling scheme to the control module 35, so that the control module 35 controls a single vehicle or a single vehicle carrying device 8 in the flow system.
Example 3
The method for forecasting the shared bicycle demand is based on a random forest algorithm, combines the user demand and the shared travel attraction, can accurately obtain the user demand, can be realized on a control platform connected with a control module, and can be specifically realized by a shared bicycle demand forecasting system, as shown in fig. 10, and comprises the following steps:
step 1, user demand statistics: obtaining user trip information and trip reservation information, and counting the first bicycle demand X of the bicycle pick-and-place point1；
Step 2, demand prediction based on shared travel attractiveness: determining attraction points of the area near the bicycle pick-and-place points, and calculating and obtaining a second bicycle demand X of the bicycle pick-and-place points according to the attraction force of each attraction point2；
And 4, weighting and summing the demand obtained in the step to obtain the demand of each single vehicle pick-and-place point.
In step 1, the trip information of the user can be obtained in an incentive feedback mode. The incentive feedback can be in a point incentive mode, a trip questionnaire is sent, the questionnaire comprises a main riding path starting and ending point, a trip time period and user opinions, questionnaire survey information is received, points are added to accounts for filling the questionnaire, reliability of data is guaranteed, and if riding information of a user is seriously inconsistent with contents filled in the questionnaire, a certain point is deducted from the user. The users mainly include fixed users holding week cards, month cards or year cards and some common users.
In the step 2, the method for determining the attraction points of the area near the bicycle pick-and-place point and calculating and obtaining the second bicycle demand according to the attraction force of each attraction point comprises the following steps:
the attraction points are public places with large human traffic, such as hospitals, schools, parks, bus stations, subway stations and the like. The attraction point refers to a place where people are attracted to share a trip.
Optionally, the flow rate may be divided according to the size of the flow rate, one stage: bus stop, subway stop, second grade: district, supermarket, school, tertiary: catering, park squares, four levels: others;
If the setting area of the single-vehicle pick-and-place point can be set as the range area of one kilometer around the single-vehicle pick-and-place point, the larger the passenger flow rate is, the larger the reduction coefficient is, the larger the demand is, and the reduction coefficient lambda can be set according to the passenger flow proportionx。
Second bicycle demand X2The solution can be calculated by the following formula:
wherein, X2Sharing the bicycle demand; sGeneral assemblyIs the area of one kilometer area near the attraction point; sSuction deviceThe area occupied by a certain nearby attraction point is represented by i, and the i is the ith bicycle taking and placing point; k is the slow travel proportion of the attraction points, and for stations with obvious time characteristics and age characteristics, the travel proportion can be divided according to age levels; n is the number of attraction points; lambda [ alpha ]xAnd the attraction reduction coefficient is determined for sharing the travel attraction points according to different grades.
and 31, acquiring a sample data set.
And taking data of the historical vehicle access quantity of all the vehicle pick-and-place points in the whole area system and corresponding related characteristic data, including characteristic data such as geographic position, time, season, holidays, working days, weather, temperature, humidity, wind speed and the like, and shared vehicle running tracks and start and end point data in the area as an original data set.
And 32, carrying out sample extraction on the sample data set to obtain a plurality of training subsets of the decision tree.
And (3) extracting S training sample subsets from the total sample by adopting a bootsrap resampling method for constructing S regression trees, wherein the extracted training samples are training sets, and the samples which are not extracted from the total sample are test sets.
generating a decision tree for each training sample subset based on a loss minimization principle, generating S decision trees for the S training sample subsets to form a random forest, and setting the selected characteristic variables not to exceed log in order to solve the overfitting phenomenon caused by excessive characteristic variables2And M +1, wherein M represents the number of the associated characteristic variables, the participated characteristic variables are selected according to a correlation principle, sorted according to the correlation size, and the part of the characteristic variables with larger correlation G are selected to participate in the splitting process of the decision tree nodes.
The correlation determination method may be as follows:
wherein X is a demand variable and YiIs a characteristic variable, G is the correlation between the demand variable and a characteristic value, A is the sum of the data number of all the demand variables X and all the characteristic variables Y, AiAnd all data of a certain characteristic correspond to the number of data in the A.
And after the S decision trees are constructed, simulating by using the test set data, estimating the error of the decision trees, and optimizing the parameters of the decision trees. And averaging the S decision tree error estimation values to obtain a random forest generalization error estimation value, and optimizing the model parameters.
Step 34, predicting a result by the random forest regression model: acquiring the bicycle travel data of the bicycle pick-and-place points and the corresponding characteristic variable data in real time, inputting the data into a random forest regression model to obtain voting results of each decision tree, weighting to obtain a random forest regression prediction result, namely a third bicycle demand X of the bicycle pick-and-place points3；
And the prediction result output by the random forest regression prediction model is generated by the voting result of each decision tree. The random forest regression prediction results are as follows:
wherein, YiFor the relevant characteristic factor data, HikFor a single decision tree prediction model, S is the total number of decision trees constructed, XYAnd returning the forecasting result for the shared bicycle demand.
In step 3, the number of characteristic variables for constructing the decision tree is limited according to the correlation magnitude, and the random forest algorithm is optimized, so that the demand X can be predicted more accurately3。
Through the steps 1-3, the result of obtaining the whole demand forecast consists of three parts, and the demand quantities obtained in the steps are weighted and summed, specifically as follows:
X＝λ1X1+λ2X2+λ3X3
wherein λ is1、λ2And λ3Represents the corresponding weight; x is the total demand of the station; x1Is the first bicycle demand; x2A second vehicle demand obtained based on the shared travel appeal; x3And obtaining a third vehicle demand based on the prediction of the random forest algorithm.
The method integrates user requirements, shared travel attractiveness and random forest algorithm, deeply excavates the user requirements, starts from the economic and convenient aspects of the user, provides incentive feedback service, mainly excavates the vehicle using requirements of fixed users (week, month and year card users) in a certain time, and simultaneously integrates the preset information of some common users to improve the precision of demand prediction; the index of the shared travel attraction is introduced, and the change influence of the attraction around the station on the demand is fully considered; historical data of each site can be analyzed more conveniently, a high-precision random forest algorithm is selected, the number of characteristic variables for constructing a decision tree is limited through characteristic variable correlation analysis, and the accuracy of random forest prediction is improved, so that the accuracy of demand prediction is improved.
Example 4
The dynamic subarea division scheduling method can adjust the subarea range in real time through dynamic subarea division, and improves the scheduling flexibility and timeliness. The method can be implemented on a control platform connected to a control module, and specifically can be implemented by a dynamic subdivision scheduling system, as shown in fig. 11, including the following steps:
step 1, acquiring bicycle storing and taking data and bicycle track information of each bicycle taking and taking point;
step 2, classifying the single-vehicle pick-and-place points according to different characteristics according to the acquired data;
and 4, scheduling each subarea according to the subarea division result: and if the dispatching can not meet the single-vehicle requirement of the subarea, executing the steps 1-3 to divide the subareas again.
In step 1, historical data information and real-time dynamic access information of the access vehicles of all stations are collected. By adopting the mobile system in the embodiment 1, the data information of each single vehicle pick-and-place point can be acquired more conveniently and rapidly, so that the internal characteristics of the pick-and-place vehicle at each station can be analyzed accurately.
In step 2, classifying the single-vehicle pick-and-place points according to different characteristics according to the acquired data;
classifying the bicycle pick and place points according to different characteristics may include classifying according to time characteristics, according to a required grade, and the like.
a time-sharing station: the demand for a single vehicle during certain periods of time is relatively large, such as early peak and late peak periods.
The full-time station: stations with relatively large demand in all time periods;
and (3) common sites: there is no significant temporal feature.
And 3, according to the classification result, dynamically dividing the adjacent bicycle picking and placing points according to the dynamic change of the requirement to form a plurality of dynamic sub-areas, specifically, the dynamic sub-areas can be as follows:
step 321, merging the sites with high complementarity in the common sites to be used as a pick-and-place point; complementarity is that the high demand does not overlap in time, and the high demand periods are staggered.
Step 322, dynamically selecting a pick-and-place point with the largest real-time demand and stable demand within a set area range as a main station;
the picking and placing points are continuous in geographic positions, a main station is selected at intervals of a certain number of stations according to the principle of layered sampling, and the selection principle can be as follows: the change in demand has no obvious temporal characteristics; the method comprises the following steps that the demand is higher than that of surrounding stations in a certain period of time, and a bicycle pick-and-place point with the largest demand is dynamically selected according to the real-time demand;
step 333, sub-area division is carried out according to the tree branch principle: selecting the most suitable surrounding sites by taking the main site as the center and adopting a complementarity principle and a shared travel attraction principle to combine to form a sub-area;
the tree branch principle is that the characteristics of the site linkage of the flow system are fully combined, a main site is selected as a root, then the main site grows according to the principle that one branch is upward, and when the growth requirement cannot be met, other nodes in the branch are selected to continue to grow. The system of the embodiment is in a strip shape or a road network shape, when a sub-area is divided, the main station is divided into a line according to the dividing condition, and when the dividing condition is not met, other stations on the line are selected for division.
The current station continues to merge downwards, if the partition principle is not satisfied, the merging of the station is ended, then whether the station merged before exists the possibility of continuing merging is retrieved, and when the number of the stations merged in the sub-area reaches a set number (for example, 8), the partitioning of the current sub-area is ended, specifically, the following may be used:
calculating a demand difference value of a station within a certain time, wherein the specific method comprises the following steps:
Q＝Qnow that+QAnd also-QNeed to
Wherein Q is a demand difference; qNow thatThe number of existing vehicles at the station; qAnd alsoReturning the number of cars for a certain time of the station; qNeed toThe number of vehicles is required within a certain time for the station.
The principle of complementarity is satisfied: after a certain station is combined with a main station, the total demand difference Q is in a decreasing trend. The specific method for judging the complementarity of the requirements is as follows:
wherein K is a reduction coefficient; q1The demand difference value of the sub-area before the station merging is obtained; q2The demand difference value of the sub-area after the station merging is obtained; h is the requirement complementarity after merging the sites.
The principle of sharing travel attraction is satisfied: and if the current sub-area demand difference value is negative, the supply is not enough, the station with small shared travel attraction is selected when the stations are merged, and if the demand difference value is positive, the supply is over, the station with large shared travel attraction is selected.
The method for judging the shared travel attraction specifically comprises the following steps:
wherein, A represents the size of the shared travel attraction of a certain site; diRepresenting the distance of the station to a suction point in a nearby suction area; lambda [ alpha ]xThe attraction reduction coefficient determined for the travel attraction points is shared according to different grades; rSuction deviceRepresents a certain attraction point radius in the attraction area; sGeneral assemblyRepresenting the total area of the attraction zone.
And 4, scheduling according to the result of the division of the subareas: and (3) aiming at the obtained sub-regions, carrying out single-vehicle adjustment among the taking and placing points in the sub-regions, carrying out single-vehicle adjustment among sub-region layers, namely the sub-regions when the internal adjustment cannot meet the requirement of the demand, and executing the step 1-4 to divide the sub-regions again when the sub-region layers cannot meet the requirement of the demand.
According to the embodiment, the scheduling is performed in each sub-area, the relevance in the sub-area is fully considered, the scheduling accuracy is improved, and the scheduling efficiency is improved.
The dispatching between the picking and placing points of the bicycles in the sub-area is carried out, which specifically comprises the following steps: and adjusting the distribution of the picking and placing points of the single vehicles in the sub-area according to the required proportion.
And if the requirement difference value of a certain subarea exceeds a certain threshold value, scheduling the subareas, and if the subareas cannot be effectively adjusted, adjusting the division of the current subarea.
The current scheduling scheme can not meet the user requirements, dynamic subarea division is carried out again to form a new scheduling adjustment scheme, dynamic adjustment of subarea division can be realized, and scheduling flexibility is improved.
The dynamic sub-area division method of the embodiment fully combines the characteristics of the linkage of the mobile system sites, adopts the tree branch principle to select and divide the sites, fully considers the influence of internal and external factors of the sites under the division conditions, selects the sites by utilizing the demand complementarity principle and the shared travel attraction principle, considers the influence of the surrounding variation factors and the different internal time characteristics of each site, divides the sites into full-time sites, time-division sites and common sites, performs corresponding sub-area division scheduling, performs demand proportion scheduling in each sub-area, and can better meet the user scheduling demand.
Example 5
This embodiment provides an automatic scheduling method based on sub-area division, which is implemented in the control platform in the system described in embodiment 2, and performs sub-area division on shared single vehicles according to user requirements, performs automatic scheduling on the shared single vehicle flow system described in embodiment 1, and schedules each shared single vehicle or single vehicle carrying device 8 in the flow system.
The automatic scheduling method based on the subarea division comprises the following steps:
s1, acquiring the single vehicle pick-and-place data of the single vehicle pick-and-place points, and predicting the demand quantity of each single vehicle pick-and-place point based on a method for fusing user demands and shared travel attractiveness by a random forest algorithm;
s2, according to the prediction result of the demand, based on the tree branch principle and combining the internal and external factors, performing dynamic sub-area division on the single-vehicle pick-and-place points, and generating a scheduling scheme according to the division result;
s3, control of scheduling is executed according to the scheduling scheme.
Step 1 adopts the shared bicycle demand forecasting method described in embodiment 3, and step 2 adopts the dynamic sub-area division scheduling method described in embodiment 4 to obtain a scheduling scheme; a control method executed by the control module 35 according to the scheduling scheme is also included.
The control method executed by the control module 35, as shown in fig. 12, includes the following steps:
step 1, conveying control among single vehicle storage points: according to the scheduling scheme, the number of the single vehicles of each station is adjusted between the adjacent stations by controlling the carrying device 8;
the carrier 8 receives the signal from the control module 35 and moves to the desired location according to the above-ground conveyor and the below-ground conveyor 26.
When a vehicle taking or parking requirement exists, starting a driving motor 12 of the carrying device 8, and further controlling the shared single vehicle to be transported to the corresponding telescopic door 4; when the system does not have the requirement of storing and taking the vehicles and detects that all doors are closed, the control module 35 realizes the equidistant discharge of the shared vehicles in each station according to the positioning data of the positioning device 3 at the bottom of each carrying device 8;
when the shared bicycle is dispatched through the underground conveying device 26 when passing through the intersection, and the shared bicycle and the carrying device 8 thereof are conveyed to the pressure sensor 32 of the underground conveying device, the pressure sensor 32 transmits a signal to the telescopic driving power device 29 to start the pressure telescopic rod 30, so that the bicycle carrying part 31 is controlled to convey the shared bicycle downwards, finally the pressure telescopic rods are all contracted into the fixed platform 28, the shared bicycle is conveyed to the underground and then is conveyed through the underground conveying rail 27, when the shared bicycle reaches a specified place, the shared bicycle is conveyed to the ground through the pressure telescopic device 30 by the same method as that of downward conveying, and the dispatching task is continued.
Step 2, access control of the access vehicle: acquiring user demand information of the vehicle access interaction device;
when a user needs to take a car, receiving car taking information and controlling the retractable door to open; dispatching the closest bicycle to the telescopic door;
when a user needs to park, the user receives parking information and controls the retractable door to open; dispatching the carrying device 8 with the nearest distance to the telescopic door position;
after the user parks, the sensing devices (16) at the two ends of the carrying device automatically lock when sensing that the vehicle is placed, and the parking is finished.
The nearest vehicle or carrier 8 may be at the current station, where there is no vehicle or carrier 8 available for scheduling, at an adjacent station, or in the storage 17.
when the quantity does not meet the requirement of the demand quantity, replenishing the bicycle to the storage device 17 of the subarea;
and when the number of the single vehicles is larger than the requirement of the demand, dispatching redundant single vehicles in the storage device of the subarea to the subarea which does not meet the demand.
For the convenience of maintenance, if the vehicle needs to be maintained, it is stored in the first storage layer 20 of the storage device, and when the number of the vehicle to be maintained exceeds the set value of the total number of the stored vehicles in the storage device 17, a maintenance instruction is sent to the terminal of the maintenance personnel.
A first storage layer 20, a second storage layer 21 and a third storage layer 22 are provided.
When the vehicles do not need to be maintained, the shared bicycle is upwards transported and stored along with the spiral ascending rail 23, during storage, the shared bicycle is upwards transported through the spiral ascending rail 23, when the shared bicycle passes through the second storage layer 21, the shared bicycle enters the second layer through the access opening 24 connected with the spiral ascending rail 23 through the second storage layer 21, the shared bicycle storage and fixing devices rotate around the center for one circle and are arranged, the vehicles arriving from the spiral ascending rail 23 are stored through continuous rotation, and when the second storage layer 21 is fully stored, the first storage layer 20 and the third storage layer 22 are sequentially stored; when the shared vehicles are dispatched from the storage device 17, the vehicles in the first storage layer 20 are dispatched, and when the vehicles in the bottom layer are not dispatched enough, the shared vehicles in the upper storage device are dispatched in turn.
The system carries out scheduling adjustment in time according to the real-time user requirements and the method in the steps, and meets the user requirements to the maximum extent.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. Shared bicycle flow system, characterized by: the system comprises an overground conveying device arranged at each single-vehicle taking and placing point, an underground conveying device connected with the overground conveying device at each single-vehicle taking and placing point, and a multi-layer storage device capable of providing single vehicles for the overground conveying device or the underground conveying device; the adjacent bicycle taking and placing points and the ground storage devices are connected through the ground conveying device or the underground conveying device to form a mobile conveying network sharing the bicycles.
2. The shared bicycle flow system as claimed in claim 1, wherein: the storage device comprises a device shell forming a bicycle accommodating space, a plurality of storage layers arranged in the shell, and a transportation rail capable of moving and transporting a bicycle between the storage layers, wherein the transportation rail is provided with an inlet and an outlet of the transportation rail to the storage layer at each storage layer;
or
The transportation track of the storage device comprises a stand column arranged in the shell and a spiral type ascending track fixed on the stand column.
3. The shared bicycle flow system as claimed in claim 1, wherein: the mobile system also comprises a single vehicle carrying device which can move freely relative to each device, each single vehicle storage point is also provided with a control module, each single vehicle carrying device comprises a bottom plate, a driving device and a single vehicle fixing device which are arranged on the bottom plate and used for driving the bottom plate to move, a single vehicle information identification device, a main controller and a wireless communication module, the main controller is respectively connected with the driving device, the single vehicle fixing device, the single vehicle information identification device and the wireless communication module, and the main controller is in wireless connection with the control module;
or
The bicycle fixing device comprises an inductive intelligent lock and an inductive device which are fixed on the bottom plate, wherein the inductive intelligent lock and the inductive device are respectively and electrically connected with the main controller and are used for transmitting inductive information to the control module; or
The information identification device comprises a reed switch arranged on the shared bicycle, a telescopic device arranged on a bottom plate of the bicycle carrying device and opposite to the reed switch in position, and a magnet arranged at the top end of the telescopic device, wherein the telescopic device is electrically connected with the main controller, and the reed switch is wirelessly connected with the main controller.
4. The shared bicycle flow system as claimed in claim 1, wherein: the ground conveying device comprises a control module, a ground conveying track laid on the ground, guard rails arranged on two sides of the ground conveying track, a single-vehicle access opening arranged on the guard rails and used for providing a single-vehicle access channel, and a vehicle access interaction device arranged at the single-vehicle access opening and used for receiving interaction information, wherein the control module is in communication connection with the single-vehicle carrying device and the vehicle access interaction device through communication modules respectively;
or
The parking and taking interaction device comprises an automatic retractable door arranged at a bicycle parking and taking port and buttons for controlling the retractable door to open and close, and can comprise a door opening button, a car taking button and a car parking button;
or
The underground conveying device comprises an underground conveying track and a pressure telescopic device arranged at an underground and overground joint, when the pressure telescopic device extends to a first position, the upper end surface of the pressure telescopic device is flush with the ground and is in butt joint with the ground, and when the pressure telescopic device is compressed to a second position, the upper end surface of the pressure telescopic device is flush with and is in butt joint with the underground conveying track;
the pressure telescopic device comprises a bicycle bearing part, a telescopic mechanism and a fixed platform which are sequentially arranged from top to bottom, and a telescopic driving power device which is electrically connected with the telescopic mechanism and arranged on the fixed platform.
5. The automatic scheduling method based on the sub-area division is characterized by comprising the following steps:
acquiring single vehicle taking and placing data of the single vehicle taking and placing points, and predicting the demand quantity of each single vehicle taking and placing point based on a method for fusing user demands and sharing travel attraction by a random forest algorithm;
according to the prediction result of the demand, based on the tree branch and the combination of internal and external factors, performing dynamic division on the sub-area of the single-vehicle pick-and-place point, and generating a scheduling scheme according to the division result;
the control of the scheduling is performed according to a scheduling scheme.
6. The method of claim 5, wherein the method comprises: the method for forecasting the demand of each single vehicle pick-and-place point based on the method for fusing the user demand and the shared travel attraction by the random forest algorithm is a method for forecasting the demand of the shared single vehicle, and comprises the following steps;
acquiring user travel information and travel reservation information, and counting first bicycle demand of a bicycle pick-and-place point;
determining attraction points of an area near the bicycle picking and placing points, and calculating to obtain a second bicycle demand of the bicycle picking and placing points according to the attraction force of each attraction point;
calculating and obtaining a third bicycle demand of the bicycle pick-and-place point based on a random forest algorithm;
and weighting and summing the demand obtained in the steps to obtain the demand of each single vehicle pick-and-place point.
7. The method of claim 6, wherein the method comprises: in the shared bicycle demand forecasting method, the method for determining the attraction points of the area near the bicycle pick-and-place point and calculating and obtaining the second bicycle demand according to the attraction force of each attraction point comprises the following steps:
dividing the attraction level of the attraction points;
determining attraction points in the setting area of the picking and placing points of the bicycle, and determining the attraction reduction coefficient of each attraction point according to the attraction grade;
calculating and obtaining a second bicycle demand of the shared bicycle pick-and-place point according to the attraction reduction coefficient;
or
The method for calculating and obtaining the third bicycle demand of the bicycle pick-and-place point based on the random forest algorithm comprises the following steps:
acquiring a sample data set;
sample extraction is carried out on the sample data set to obtain training subsets of a plurality of decision trees;
and (3) decision tree construction: on the basis of a minimization principle, each training subset is trained correspondingly to obtain a decision tree, in the training process of the decision tree, a set number of characteristic variables with high correlation are selected to participate in node splitting of the decision tree, and a plurality of training subsets are trained to obtain a random forest regression model;
predicting a result by a random forest regression model: and acquiring the bicycle travel data of the bicycle pick-and-place points and the corresponding characteristic variable data in real time, inputting the data into a random forest regression model, acquiring the voting results of each decision tree, and weighting to obtain a random forest regression prediction result, namely the third bicycle demand of the bicycle pick-and-place points.
8. The method of claim 5, wherein the method comprises:
the control of executing the scheduling according to the scheduling scheme comprises the conveying control among the storage points of the single vehicles, the access control of accessing the vehicles and the storage control of the single vehicles;
or
Based on tree branches combined with internal and external factors, the method for dynamically dividing the sub-areas of the single vehicle pick-and-place points and generating the scheduling scheme according to the division result is the dynamic sub-area division scheduling method, and comprises the following steps:
acquiring the bicycle storing and taking data of each bicycle taking and taking point and the track information of the bicycle;
classifying the single vehicle pick-and-place points according to different characteristics according to the acquired data;
according to the classification result, dynamically dividing the adjacent bicycle picking and placing points according to the dynamic change of the demand quantity to form a plurality of sub-areas;
scheduling according to the result of the division of the subareas: and if the dispatching can not meet the single-vehicle requirement of the subarea, executing the subarea division again.
9. The method of claim 8, wherein the method for automatic scheduling based on subdivision comprises: in the dynamic sub-division scheduling method, classifying the single-vehicle pick-and-place points according to different characteristics can comprise classifying according to time characteristics and required levels to obtain time-share stations, full-time-share stations and common stations;
or
According to the classification result, the adjacent bicycle taking and placing points are dynamically divided according to the dynamic change of the requirement to form a plurality of dynamic subareas, which specifically comprises the following steps:
aiming at the time characteristics of time-sharing sites and full-time sites, combining the dynamic demand conditions of surrounding sites to form sub-regions with the surrounding sites;
merging stations with high complementarity in common stations to serve as a pick-and-place point;
dynamically selecting a pick-and-place point with the largest real-time demand and stable demand within a set area range as a main station;
and (3) carrying out subarea division according to the tree branch principle: selecting the most suitable surrounding sites by taking the main site as the center and adopting a complementarity principle and a shared travel attraction principle to combine to form a sub-area;
or
Scheduling according to the result of the division of the subareas, specifically: and aiming at the obtained sub-regions, carrying out bicycle adjustment between each taking and placing point in the sub-regions, carrying out bicycle adjustment between sub-region layers when the internal adjustment can not meet the requirement of the demand, and carrying out sub-region division again when the sub-region layers can not meet the requirement of the demand.
10. The automatic scheduling system based on the subregion partition is characterized in that: comprising the shared bicycle flow system according to any one of claims 1-4, and a control platform for sending scheduling instructions to the shared bicycle flow system; the control platform comprises a shared bicycle demand prediction system and a dynamic subarea division scheduling system;
the shared single-vehicle demand prediction system is configured to perform the shared single-vehicle demand prediction method in the subdivision-based automatic scheduling method according to any one of claims 5 to 9;
alternatively, the dynamic subdivision scheduling system is configured to perform the dynamic subdivision scheduling method of the subdivision based automatic scheduling method of any of claims 5-9.
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| CN111598481B (en) | 2023-09-01 |
| WO2021238231A1 (en) | 2021-12-02 |
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