CN111754082A - Intelligent delivery system - Google Patents
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- CN111754082A CN111754082A CN202010482977.7A CN202010482977A CN111754082A CN 111754082 A CN111754082 A CN 111754082A CN 202010482977 A CN202010482977 A CN 202010482977A CN 111754082 A CN111754082 A CN 111754082A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses an intelligent carrying system, which comprises: the intelligent scheduling subsystem is responsible for scheduling the job tasks of the carriers, managing job information, monitoring job states and processing job exceptions; the intelligent interconnection subsystem is responsible for providing bidirectional data transmission service in the subsystem and between the subsystems, monitoring the carrying operation environment and managing information safety; and the intelligent driving subsystem receives the operation task distribution and scheduling instruction issued by the intelligent scheduling subsystem and transmitted by the intelligent interconnection subsystem, and controls the carrier to finish the carrying operation. The intelligent carrying system can provide intelligent, safe, efficient and energy-saving carrying service through mutual fusion of the intelligent scheduling subsystem, the intelligent interconnection subsystem and the intelligent driving subsystem.
Description
Technical Field
The invention relates to the field of delivery systems, in particular to an intelligent delivery system.
Background
The carrying system is a system for realizing the transportation and operation of personnel and goods by utilizing various carriers such as land, water, air and the like. The traditional carrying system has the problems of low production efficiency, excessive resource consumption, high labor cost, high potential safety hazard and the like due to low informatization, automation and intelligence levels, and the development of economy is seriously restricted. In recent years, cloud computing, big data, mobile internet and automatic driving technologies are rapidly developed, and a new opportunity is provided for transformation development of a carrying system.
At present, the performance of a carrying system can be improved by some techniques. The patent "intelligent rail transport system" (patent number: CN108227601A) discloses a technology for transporting operation on an intelligent rail by an intelligent transport vehicle controlled by an intelligent control system. The patent "an intelligent rail transport device, system and method" (patent number: CN105511330A) discloses a technology for realizing automatic and intelligent transportation by parallelly managing all intelligent rail transportation devices through a cloud control technology. The patent "intelligent warehousing scheduling monitoring management method and system based on intelligent mobile equipment" (patent number: CN106447256A) discloses an intelligent warehousing scheduling monitoring management system based on intelligent mobile equipment. However, the above technologies only aim at a specific carrying task, and lack universality for various carrying tasks, so different carrying systems need to be developed for different carrying tasks, and development cost is greatly increased. Meanwhile, the above technologies only focus on a specific component (such as a scheduling platform and a carrier) of the carrying system, and cannot provide a complete system solution, so that the integration level is low and the systematicness is poor, which makes it difficult to bring the overall performance of the carrying system into the best play.
In order to solve the problems, the invention designs the intelligent carrying system, which can effectively improve the automation and intelligence level of the carrying system, improve the systematicness and the integration degree, and effectively improve the safety, the high efficiency and the economy of carrying operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to: the intelligent delivery system constructs an intelligent scheduling subsystem, an intelligent interconnection subsystem and an intelligent driving subsystem which are mutually fused by integrating key technologies such as environment perception understanding, fusion positioning mapping, autonomous decision planning, drive control execution, networking multi-vehicle cooperation, cloud operation and maintenance scheduling and the like, and provides intelligent, safe, efficient and energy-saving delivery service in a special delivery environment so as to realize full automation and intellectualization of delivery operation.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent delivery system, comprising: the intelligent scheduling subsystem (101) is responsible for scheduling the job task of the carrier, managing job information, monitoring job state and processing job abnormity;
the intelligent interconnection subsystem (102) is responsible for providing bidirectional data transmission service in the subsystem and between the subsystems, monitoring the carrying operation environment and managing information safety;
and the intelligent driving subsystem (103) receives the work task allocation and scheduling instruction issued by the intelligent scheduling subsystem (101) and transmitted by the intelligent interconnection subsystem (102) and controls the carrier to finish the carrying work.
As a further improvement of the invention, the intelligent scheduling subsystem (101) comprises:
the operation task scheduling module is responsible for analyzing an operation plan of the whole carrying system, establishes an intelligent scheduling model according to the decision basis of the operation task amount and distribution, the carrier environment information and the carrier real-time transport state, realizes the self-adaptive distribution and scheduling of the carrier operation tasks, performs global path planning on the carrier operation tasks according to the carrier operation tasks, and performs the organization, management and control of the cooperative operation of a plurality of carriers;
the operation information management module is responsible for acquiring, storing, inquiring, managing and analyzing operation data of the whole carrying system;
the operation state monitoring module is responsible for operation state macroscopic observation, carrier monitoring and operation environment monitoring of the whole carrying system;
and the operation exception handling module is responsible for realizing the emergency stop function of a single carrier or the whole carrying system in an emergency and realizing the carrier carrying operation in a remote control mode.
As a further improvement of the present invention, the job task scheduling module establishes a two-stage or multi-stage scheduling framework based on the job environment, the scheduling framework comprises a carrier flow planning model, a path selection model and a carrier real-time scheduling model, wherein the carrier flow model is responsible for scheduling macro carriers, the carrier flow planning model is established based on the job flow, carrier performance, job quality and other requirements, the carrier flow planning model is solved by using an optimization theory, and carriers and OD pairs are optimally distributed according to job targets; the path selection model selects an optimal path among a plurality of paths contained in one OD pair based on a shortest path algorithm; the real-time scheduling model takes the carrier flow planning result as a standard and takes the path selection model result as a carrier to carry out microscopic real-time scheduling on the carriers.
As a further improvement of the invention, the job task scheduling module forms a centralized and distributed combined unified real-time computing network based on a three-layer computing frame consisting of a central cloud, an edge cloud and a carrier end from top to bottom, and performs unified scheduling on computing, wherein the central cloud is deployed at a far end and is mainly responsible for big data storage and big data computing, dynamically fuses multi-source data information, and comprehensively considers global path planning; the edge cloud is deployed at one side close to the vehicle and is mainly responsible for providing light storage and real-time computing services for the vehicle at the cost of ultra-low time delay.
As a further improvement of the present invention, the data collected by the job information management module for job, storage, query, management and analysis includes: the system comprises an intelligent dispatching subsystem (101), an intelligent interconnection subsystem (102), an intelligent driving subsystem (103), a carrier state and monitoring data, a carrying operation environment monitoring data and fault and alarm data.
As a further improvement of the invention, the intelligent interconnection subsystem (102) comprises:
the interconnection communication module is responsible for realizing the bidirectional data transmission of the intelligent interconnection subsystem (102), the intelligent scheduling subsystem (101) and the intelligent driving subsystem (103);
the operation environment sensing module is responsible for sensing, understanding and abnormity monitoring of the carrying operation environment;
the information security management module is responsible for ensuring the security and reliability of communication transmission data and intercepting malicious network attacks;
the interconnection communication module adopts various wired and wireless multi-mode redundant communication architectures, can flexibly switch and collaborate multiple communication modes according to actual communication bandwidth, capacity, time delay and other requirements, is distributed and deployed in a delivery vehicle and a delivery environment, and is connected with the intelligent scheduling subsystem and the intelligent driving subsystem.
As a further improvement of the invention, the data information transmitted by the interconnected communication module comprises the running state information of the intelligent driving subsystem (103), the vehicle monitoring data, the carrying operation environment monitoring information, the fault information, the scheduling information of the intelligent scheduling subsystem (101), the manual intervention instruction and the information safety state. As a further improvement of the invention, the working environment sensing module is used for sensing and monitoring: the road/track/stratum/water area/airspace state in the carrying operation environment, and the running state of other environment users in the carrying operation environment.
As a further development of the invention, the intelligent driving subsystem (103) comprises:
the perception positioning module is responsible for perception, cognition and understanding of a carrying operation environment, a carrying object, a barrier and other carriers and simultaneously realizes real-time positioning of the carriers;
the decision planning module is responsible for behavior decision and local path planning of the carriers;
the motion control module is responsible for controlling the kinematics and dynamics of the carrier and tracking the planned local path;
and the fault diagnosis module is responsible for data storage analysis and real-time fault diagnosis of the carrier end.
The intelligent dispatching system has the beneficial effects that 1, the intelligent dispatching subsystem, the intelligent interconnection subsystem and the intelligent driving subsystem are organically integrated into one carrying system, so that the integrated deployment of the whole operation process of the carrying system can be realized, the automation and intelligence level of the carrying system is improved, and the safety, the efficiency and the economy of carrying operation are improved; 2. the invention can be deployed in various types of carrying systems, is not limited to a certain carrying system, has wide application range, can be rapidly and conveniently deployed, and improves the universality of the system.
Drawings
FIG. 1 is a flow diagram and structural framework for initial startup of an intelligent carrier system;
FIG. 2 is an embodiment of an intelligent carrier system in a road vehicle transport system;
fig. 3 an embodiment of an intelligent vehicle system in a robotic underwater operations system.
Detailed Description
The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings in combination with the embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention. The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 below shows an initial start-up flowchart and a structural framework of the intelligent carrier system of the present invention. As shown in fig. 1, the intelligent carrier system includes:
101. the intelligent scheduling subsystem is responsible for scheduling the job tasks of the carriers, managing job information, monitoring job states and processing job exceptions;
102. the intelligent interconnection subsystem is responsible for providing bidirectional data transmission and carrying operation environment monitoring service in and among the subsystems for the intelligent scheduling subsystem and the intelligent driving subsystem;
103. and the intelligent driving subsystem receives the operation task distribution and scheduling instruction issued by the intelligent scheduling subsystem and transmitted by the intelligent interconnection subsystem, and controls the carrier to finish the carrying operation.
In a further embodiment of the present invention, the intelligent scheduling subsystem startup comprises 3 steps, namely 1) the intelligent scheduling subsystem hardware is powered on, 2) initialization and self-checking, and 3) the subsystem software is started; and if the intelligent interconnection subsystem is started successfully, starting the intelligent interconnection subsystem, and otherwise, carrying out early warning prompt. The intelligent interconnection subsystem starting comprises 3 steps, namely 1) hardware of the intelligent interconnection subsystem is electrified, 2) initialization and self-checking processes are carried out, and 3) subsystem software is started; and starting the intelligent driving subsystem if the starting is successful, otherwise, carrying out early warning prompt. The intelligent driving subsystem starting comprises 4 steps, namely 1) hardware of the intelligent driving subsystem is powered on, 2) a vehicle is started, 3) initialization and self-checking processes are carried out, and 4) subsystem software is started. The self-checking process comprises the steps of checking the self state of the subsystem, the state of a carrier and the state of a carrier sensor actuator, and feeding back to the intelligent scheduling subsystem through the intelligent interconnection subsystem.
It should be noted that the intelligent scheduling subsystem may be deployed in a fixed location or in a cloud, or may be deployed on a vehicle with a mobile function.
It should be noted that the intelligent interconnection subsystem realizes bidirectional data transmission of the intelligent scheduling subsystem and the intelligent driving subsystem, and may adopt communication modes such as wired optical fiber, CAN, 5G, 5.9hz dsrc, WiFi, ZigBee, and the like, and may perform flexible selection, switching, and cooperative work of multiple communication modes according to actual requirements such as communication bandwidth, capacity, time delay, and the like.
It should be noted that the intelligent driving subsystem is not limited to the form of road vehicle, rail vehicle, water carrier, air carrier, etc., and any vehicle with transportation property can be used as the intelligent driving subsystem of the present invention.
In a further embodiment of the invention, fig. 2 shows an implementation of the intelligent carrier system in a road passenger vehicle transportation system. The application of the intelligent carrying system in the road passenger vehicle transportation system comprises the following steps: the intelligent dispatching subsystem 21, the intelligent interconnection subsystem 22 and the intelligent driving subsystem 23.
It should be noted that the interconnection communication units 221 and 223 of the intelligent interconnection subsystem 22 are respectively disposed in the intelligent dispatching subsystem 21 and the intelligent driving subsystem 23, but are functionally divided into the intelligent interconnection subsystem.
Further, the intelligent scheduling subsystem 21 includes: a job information management unit 211, a job status monitoring unit 212, a job task scheduling unit 213, and a job exception processing unit 214. The interconnection communication unit 221 arranged in the intelligent scheduling subsystem adopts a 5G/4G communication technology to transmit data with the interconnection communication unit 222 arranged in the intelligent interconnection subsystem, and the long-distance wireless communication can be realized by utilizing the existing infrastructure. The interconnection communication unit 221 receives the operating state and road environment information of each passenger vehicle, including the number of passengers, the working time and fatigue degree of a driver, the vehicle position, the vehicle speed, the oil/electricity allowance, fault monitoring, road traffic jam condition, weather and the like; and on the other hand, the task scheduling information is sent to the passenger carrying vehicle through the intelligent interconnection subsystem. In addition, the interconnected communication unit 221 may also transmit the highest priority intervention instruction from the manager to cope with the emergency traffic demand. The job information management unit 211 stores various data information received by the interconnection communication unit 221 in a local server, and at the same time, manages and analyzes the data for the job status monitoring unit and the job task scheduling unit to query and use. The job status monitoring unit 212 can perform status monitoring according to the data stored and analyzed by the job information management unit, wherein the monitored objects include: (1) the state of the passenger carrying vehicle comprises whether the vehicle is overloaded and overspeed, whether a driver is in fatigue driving, whether the oil/electricity allowance meets the transportation requirement and the like; (2) the operation state information comprises whether the transportation operation is finished or not, whether the operation capacity meets the task amount of passengers to be picked up or not and the like; (3) the working road environment includes whether the road traffic is congested, whether emergency vehicles such as ambulances or fire trucks exist, whether the weather meets the driving conditions, and the like. A job task scheduling unit 213 for analyzing the passenger-carrying task in real time based on information such as the number of persons in each passenger waiting area, time, destination to go to, and the like; then distributing the passenger carrying tasks to each vehicle according to the running state information of each passenger carrying vehicle; and carrying out global path planning on each vehicle from the area to be ridden to the destination, and carrying out multi-vehicle cooperative control on working conditions of confluence, following, overtaking and the like of the vehicles. The work state monitoring unit sends an instruction to the work abnormality processing unit 214 if an abnormal condition occurs, the work abnormality processing unit selects vehicle scram or system suspension, and the interconnection communication unit 221 sends abnormality processing information to the passenger vehicle.
Further, the intelligent interconnected subsystem 22 includes interconnected communication units 221, 222, 223 and a road environment monitoring unit 224. The interconnection communication units 221 and 222 realize remote wireless communication through a 5G/4G base station based on a TCP/IP protocol, on one hand, the task scheduling information sent from the intelligent scheduling subsystem is sent to the passenger carrying vehicle, and on the other hand, the running state information and the road environment monitoring information of the passenger carrying vehicle are sent to the intelligent scheduling subsystem. The intelligent interconnection subsystem is communicated with the intelligent scheduling subsystem and the intelligent driving subsystem and is a bridge for information transmission.
Further, the intelligent driving subsystem 23 includes a sensing and positioning unit 231, a decision planning unit 232, a motion control unit 233, and a fault diagnosis unit 234. It should be noted that fig. 2 shows an implementation of the intelligent carrying system in a road passenger carrying vehicle transportation system, which may be a city bus, an airport ferry vehicle, a scenic spot sightseeing vehicle, a mine freight vehicle, a logistics transportation vehicle, etc., and the transportation objects may be passengers, goods, etc.; however, the present invention is not limited to the specific forms set forth above, and any road vehicles having transportation capability or possessing the attributes of the present invention are within the scope of protection. Further, the interconnecting communication units 222 and 223 perform short-range wireless communication, and may adopt DRSC, WiFi, Zigbee and other manners; the method comprises the following steps of receiving task scheduling information sent by an intelligent scheduling subsystem through an intelligent interconnection subsystem: to a destination to pick up several passengers or to distribute several goods, etc. Furthermore, the sensing and positioning unit 231 acquires the geographic position information of the vehicle through a GPS, acquires the surrounding environment information through a camera, a laser radar, and other sensors, and fuses and transmits the information to the decision planning unit. The decision planning unit 232 makes a comprehensive decision according to the environment sensing information and the scheduling task information, and then transmits the decision information to the motion control unit 233 to enable the vehicle to perform corresponding execution actions. The fault diagnosis system 234 monitors the vehicle running state in real time, and for the vehicle abnormal state: and the failure of the sensor, the overload of the vehicle, the failure of the actuator and the like are sent to the intelligent scheduling subsystem in time.
In a further embodiment of the invention, fig. 3 shows an implementation of the intelligent vehicle system in an underwater transport system. The underwater intelligent carrying system can be applied to various underwater operations such as marine oil and natural gas exploration, marine salvage and rescue, underwater drilling, pipeline laying, canal digging and the like. The underwater robot laying pipeline is explained as a specific embodiment. The present patent is not limited to a pipeline laying operation. This underwater operation system includes: an intelligent scheduling subsystem 31, an intelligent interconnection subsystem 32 and an underwater robot 33.
It should be noted that the interconnection communication units 321 and 323 of the intelligent interconnection subsystem 32 are respectively disposed in the intelligent dispatching subsystem 31 and the underwater robot system 33, but are functionally divided to belong to the intelligent interconnection subsystem 32.
Further, the intelligent scheduling subsystem 31 includes: a job information management unit 311, a job status monitoring unit 312, a job task scheduling unit 313, and a job exception processing unit 314. The interconnection communication unit 321 disposed in the intelligent scheduling subsystem transmits data, i.e., scheduling information, from the transmitting system to the receiving system through an underwater channel by using an underwater laser communication technology and the interconnection communication unit 322 disposed in the intelligent interconnection subsystem. The interconnection communication unit 321 receives the operation state and underwater environment information of each underwater robot, including the length and depth of the laid pipeline, the working condition of each sensing device of the robot, the underwater temperature and pressure, the water flow speed and direction, the underwater ecosystem condition, fault monitoring and the like; and on the other hand, the task scheduling information is sent to the underwater robot 33 through the intelligent interconnection subsystem 32. In addition, the interconnection communication unit 321 may also send a highest priority intervention instruction from a manager to deal with sudden situations such as an underwater sudden underflow, a large underwater biological attack, and the like. The job information management unit 311 stores various data information received by the interconnection communication unit 321 to a local server; meanwhile, the data are managed and analyzed for the query and use of the job state monitoring unit and the job task scheduling unit. The job status monitoring unit 312 can perform status monitoring according to the data stored and analyzed by the job information management unit, wherein the monitored objects include: (1) the state of the underwater robot comprises whether the robot reaches a periodic maintenance limit, continuous working time, a pipeline laying task which is currently competent, energy allowance of an autonomous underwater robot (AUV) and the like; (2) the operation state information comprises whether the pipeline laying operation is finished or not, whether the operation capacity meets the pipeline laying task or not and the like; (3) the underwater operation environment comprises whether underwater undercurrent appears, the underwater living things density, the operation space size, the water bed softness and the like. The operation task scheduling unit 313 analyzes the pipeline laying task in real time according to the information such as the task quantity, the difficulty level, the underwater operation environment, the self attribute and the operation condition of each robot and the like of laying the pipeline in each task area; then distributing pipeline laying tasks to the underwater robots according to the running state information of the robots; and carrying out global path planning on each robot from the current operation area to the target operation area, and carrying out multi-machine cooperative control on formation and cooperation of the robots. If the working state monitoring unit has an abnormal condition, the working state monitoring unit sends an instruction to the working abnormality processing unit 314, the working abnormality processing unit selects the robot emergency stop or the system halt, and the interconnection communication unit 321 sends the abnormality processing information to the underwater working robot through 322.
Further, the intelligent interconnection subsystem 32 includes: interconnecting the communication units 321, 322, 323 and the underwater environment monitoring unit 324. The interconnection communication unit 321 is arranged in the intelligent dispatching subsystem, 322 is arranged in the intelligent interconnection subsystem, and 323 is arranged in the underwater robot. The 322 realizes underwater communication through the underwater laser and 321, and on one hand, sends task scheduling information sent from the intelligent scheduling subsystem 31 to the underwater robot 33; on the other hand, 322 and 323 transmit the operation state information of the underwater robot 33 and the underwater operation environment monitoring information to the intelligent scheduling sub-system 31 through acoustic wave communication. The intelligent interconnection subsystem is communicated with the intelligent scheduling subsystem and the underwater robot system and is a bridge for information transmission.
Further, the underwater robot 33 includes: sensing and positioning 331, a decision planning unit 332, a motion control unit 333 and a fault diagnosis unit 334. It should be noted that fig. 3 shows an implementation of the intelligent carrying system in an underwater robot operating system, which may be underwater operations such as rescue in the sea, salvage, cable laying, operation and maintenance of marine oil and other production systems, or underwater observation operations such as observing the submarine topography, and operating state; this patent is not intended to be limited to the specific forms set forth herein, but on the contrary, it is intended to cover such forms as modifications and equivalents as may fall within the spirit and scope of the appended claims. Further, the interconnected communication units 331 and 332 adopt underwater acoustic communication; it receives the task scheduling information sent by the intelligent scheduling subsystem 31 through the intelligent interconnection subsystem 32: laying a pipeline to a destination or retrieving trenching and masking tools, pipeline material, etc. to a destination. Furthermore, the perception positioning unit 331 observes and analyzes the surrounding environment by using a combination of sonar and a camera to solve the problem of complex underwater imaging environment caused by light scattering, absorption effect and the like of a water body in the imaging process; the method comprises the steps of adopting an inertial navigation system as core navigation equipment of the underwater robot, and adopting a Doppler velocimeter DVL, underwater acoustic navigation, geophysical navigation and terrain matching to regularly correct the inertial navigation system. The environment and location information is fused and transmitted to the decision planning unit 332. The decision planning unit 332 makes a comprehensive decision according to the environment sensing information and the scheduling task information, and then transmits the decision information to the motion control unit 333 to enable the robot to perform corresponding actions and execute the job task. The fault diagnosis system 334 monitors the operation state of the robot in real time, and for an abnormal state: sensor failure, sudden environmental change, operation over-standard, executor fault, etc. are sent to the intelligent scheduling subsystem in time.
Further, the intelligent carrier system can be applied to other various aspects. For example, intelligent delivery systems are used in rail vehicle transportation: the intelligent scheduling subsystem comprehensively decides according to the operation information, the operation environment information and the state information of the intelligent driving subsystem and issues scheduling tasks; the intelligent interconnection system is responsible for monitoring the working environment and transmitting data; the intelligent driving subsystem is a passenger train or a freight train running on a special track. For another example, the intelligent carrying system is applied to the field of engineering machinery transportation: the intelligent scheduling subsystem issues scheduling tasks according to comprehensive decisions of operation tasks, operation environment information and the like of the engineering mechanical equipment; the intelligent interconnection system is responsible for monitoring the working environment and transmitting data; the intelligent driving subsystem is a construction machine for performing excavation, transportation, mining and other operation tasks. In a word, the intelligent scheduling subsystem is applied to different fields, and only has different analyzed data and different issued scheduling tasks; the intelligent interconnection subsystem adopts different communication modes and environment monitoring means; the intelligent driving subsystem adopts different forms according to different working environments and requirements. The intelligent carrier system can be applied to many scenarios, and is not described in detail herein.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (9)
1. An intelligent delivery system, characterized in that: the method comprises the following steps:
the intelligent scheduling subsystem (101) is responsible for scheduling the job task of the carrier, managing job information, monitoring job state and processing job abnormity;
the intelligent interconnection subsystem (102) is responsible for providing bidirectional data transmission service in the subsystem and between the subsystems, monitoring the carrying operation environment and managing information safety;
and the intelligent driving subsystem (103) receives the work task allocation and scheduling instruction issued by the intelligent scheduling subsystem (101) and transmitted by the intelligent interconnection subsystem (102) and controls the carrier to finish the carrying work.
2. The intelligent delivery system of claim 1, wherein: the intelligent scheduling subsystem (101) comprises:
the operation task scheduling module is responsible for analyzing an operation plan of the whole carrying system, establishes an intelligent scheduling model according to the decision basis of the operation task amount and distribution, the carrier environment information and the carrier real-time transport state, realizes the self-adaptive distribution and scheduling of the carrier operation tasks, performs global path planning on the carrier operation tasks according to the carrier operation tasks, and performs the organization, management and control of the cooperative operation of a plurality of carriers;
the operation information management module is responsible for acquiring, storing, inquiring, managing and analyzing operation data of the whole carrying system;
the operation state monitoring module is responsible for operation state macroscopic observation, carrier monitoring and operation environment monitoring of the whole carrying system;
and the operation exception handling module is responsible for realizing the emergency stop function of a single carrier or the whole carrying system in an emergency and realizing the carrier carrying operation in a remote control mode.
3. The intelligent tote system of claim 2, wherein: the operation task scheduling module establishes a two-stage or multi-stage scheduling framework based on an operation environment, the scheduling framework comprises a carrier flow planning model, a path selection model and a carrier real-time scheduling model, the carrier flow model is responsible for macroscopic carrier scheduling, the carrier flow planning model is established based on operation flow, carrier performance, operation quality and other requirements, the carrier flow model is solved by using an optimization theory, and optimal allocation is carried out on a carrier and an OD pair according to an operation target; the path selection model selects an optimal path among a plurality of paths contained in one OD pair based on a shortest path algorithm; the real-time scheduling model takes the carrier flow planning result as a standard and takes the path selection model result as a carrier to carry out microscopic real-time scheduling on the carriers.
4. The intelligent tote system of claim 3, wherein: the operation task scheduling module forms a centralized and distributed combined unified real-time computing network based on a three-layer computing framework consisting of a center cloud, an edge cloud and a carrier end from top to bottom, and performs unified scheduling on corresponding computing, wherein the center cloud is deployed at a far end and mainly responsible for big data storage and big data computing, dynamically fuses multi-source data information, and comprehensively considers global path planning; the edge cloud is deployed at one side close to the vehicle and is mainly responsible for providing light storage and real-time computing services for the vehicle at the cost of ultra-low time delay.
5. The intelligent tote system of claim 4, wherein: the data of the operation, storage, inquiry, management and analysis collected by the operation information management module comprises: the system comprises an intelligent dispatching subsystem (101), an intelligent interconnection subsystem (102), an intelligent driving subsystem (103), a carrier state and monitoring data, a carrying operation environment monitoring data and fault and alarm data.
6. The intelligent delivery system of any one of claims 1 to 5, wherein: the intelligent interconnect subsystem (102) comprises:
the interconnection communication module is responsible for realizing the bidirectional data transmission of the intelligent interconnection subsystem (102), the intelligent scheduling subsystem (101) and the intelligent driving subsystem (103);
the operation environment sensing module is responsible for sensing, understanding and abnormity monitoring of the carrying operation environment;
the information security management module is responsible for ensuring the security and reliability of communication transmission data and intercepting malicious network attacks;
the interconnection communication module adopts various wired and wireless multi-mode redundant communication architectures, can flexibly switch and collaborate multiple communication modes according to actual communication bandwidth, capacity, time delay and other requirements, is distributed and deployed in a delivery vehicle and a delivery environment, and is connected with the intelligent scheduling subsystem and the intelligent driving subsystem.
7. The intelligent delivery system of claim 6, wherein: the data information transmitted by the interconnected communication module comprises operation state information of the intelligent driving subsystem (103), carrier monitoring data, carrying operation environment monitoring information, fault information, scheduling information of the intelligent scheduling subsystem (101), manual intervention instructions and information safety states.
8. The intelligent tote system of claim 7, wherein: the operation environment perception module is used for perceiving and monitoring: the road/track/stratum/water area/airspace state in the carrying operation environment, and the running state of other environment users in the carrying operation environment.
9. The intelligent delivery system of any one of claims 1 to 5, wherein: the intelligent driving subsystem (103) comprises:
the perception positioning module is responsible for perception, cognition and understanding of a carrying operation environment, a carrying object, a barrier and other carriers and simultaneously realizes real-time positioning of the carriers;
the decision planning module is responsible for behavior decision and local path planning of the carriers;
the motion control module is responsible for controlling the kinematics and dynamics of the carrier and tracking the planned local path;
and the fault diagnosis module is responsible for data storage analysis and real-time fault diagnosis of the carrier end.
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| CN112348209A (en) * | 2020-10-26 | 2021-02-09 | 中车工业研究院有限公司 | Train group operation and maintenance system and method, electronic device and readable storage medium |
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