CN112590889B - Rail transit operation control system and control method - Google Patents
Rail transit operation control system and control method Download PDFInfo
- Publication number
- CN112590889B CN112590889B CN202011543624.XA CN202011543624A CN112590889B CN 112590889 B CN112590889 B CN 112590889B CN 202011543624 A CN202011543624 A CN 202011543624A CN 112590889 B CN112590889 B CN 112590889B
- Authority
- CN
- China
- Prior art keywords
- train
- resource
- route
- information
- management module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/08—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only
- B61L23/14—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated
- B61L23/18—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
Abstract
The invention discloses a rail transit operation control system and a control method thereof, comprising an operation plan management module, a resource management module and a train module; generating a train operation plan through the operation plan management module, and applying route resources or turnout resources for each train; monitoring the state information of each operation route in real time through the resource management module, and authorizing or queuing the application of route resources or turnout resources of each train; and executing the operation plan by the corresponding train in the train module according to the authorization state of the route resource or the turnout resource. And the operation plan management module adjusts the train operation plan in time according to the operation route state information and the train operation state information. The rail transit operation control system and the control method thereof provided by the invention can adjust the train operation plan in time, so that the system can rapidly cope with various special operation scenes, the operation burden of operation scheduling personnel is reduced, and the operation efficiency and the service level are improved.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a rail transit operation control system and a control method.
Background
Currently, a signal control system of rail transit is a running control method for realizing train tracking interval control based on the direction of a route or an interval, that is, a certain safety distance (space interval system) must be kept between a preceding train and a subsequent tracking train.
The prior art method can meet daily forward operation scenes after years of practice, but the related area is wider due to the fact that the functions of the access and the interval are in hostile protection treatment, and the requirement for flexibly changing the operation direction is difficult to meet. Once a fault that suddenly affects the train operation is detected on the line, the system is subject to the existing technical methods and the operation management emergency plan adapted to the technical methods, so that the efficiency of recovering the operation order of the system is low. In the face of special operation scenes, such as opposite operation, train rescue, turning back at any place on a line, single-line multi-line train ferry operation, train pressing-in turnout turning-back and the like, the prior art and the method are difficult to deal with and are mostly ensured by people with output limitation requirements. The existing rail transit signal control system is limited by numerous subsystems and complex interfaces, the real-time performance and the reliability of the system are further improved, the space for further improving the real-time performance and the reliability of the system is small, and the air-to-air approach limit can be improved and improved for the operation capacity of a line.
Disclosure of Invention
The invention provides a rail transit operation control system and a rail transit operation control method, aiming at improving the capability of rail transit in coping with special operation scenes and improving operation efficiency.
The invention provides a rail transit operation control system, which comprises an operation plan management module, a resource management module and a train module; the operation plan management module further comprises a train operation task decomposition module, a train operation task sequencing module, a train operation task duration estimation module and a train operation progress management module; the train module comprises a plurality of trains, namely a train 31, a train 32, a train … and a train 3 n.
Generating a train operation plan through the operation plan management module, and applying route resources or turnout resources for each train;
the resource management module is used for authorizing or queuing the application of the route resource or the turnout resource of each train and sending authorization information to the operation plan management module and the train module; the resource management module also monitors the state information of each operation route in real time and sends the state information to the operation plan management module;
the train module executes a train operation plan according to the authorization state of route resources or turnout resources, and feeds back the operation state information of each train to the operation plan management module and the resource management module;
and the operation plan management module adjusts the train operation plan in time according to the operation route state information and the train operation state information.
Optionally, the train operation task decomposition module decomposes the whole operation task of the train into a plurality of local operation tasks;
and the train operation task decomposition module sends train operation task information including the whole train operation task information and the local train operation task information to the train operation task sequencing module.
Optionally, the train operation task ordering module processes train operation task information, and determines the priority of each train according to the sequence of each train application, the train operation path, and the time sequence of train arrival on a section of route resource or switch resource.
Optionally, the train operation task duration estimation module estimates train operation time and generates train operation time information according to the train operation task information and the train priority information;
the train operation time information comprises local operation time information for the train to execute each local operation task and overall operation time information for executing the overall operation task.
Optionally, the train operation progress management module generates a train operation plan according to the train operation task information, the train priority information and the train operation time information, and applies for route resources or turnout resources for the train.
Optionally, the resource management module decomposes each operation route into a plurality of route resources and/or a plurality of turnout resources;
the section route resource or the turnout resource corresponds to a local operation task of the train;
each route resource or turnout resource can not be decomposed any more, and only one train is allowed to run in operation within a period of time.
Optionally, the resource management module monitors the state of each route resource or switch resource, and authorizes or queues the application of the route resource or switch resource of each train according to the state of the route resource or switch resource.
Optionally, each train has an identification code for identifying the corresponding train and train information in the rail transit operation control system;
each train receives the authorization information of the route resource or the turnout resource and executes corresponding operation; and the train sends the operation state information to the train operation progress management module and the resource management module.
Optionally, the train operation progress management module adjusts the train operation plan in real time according to the received route resource or switch resource state information and the train operation state information.
The other technical scheme of the invention is to provide a rail transit operation control method which is suitable for any one of the rail transit operation control systems; the rail transit operation control method comprises the following processes:
step S1: decomposing the whole operation task of the train to generate train operation task information which comprises the whole operation task information and the local operation task information of the train;
step S2: according to the train operation task information, judging the sequence of each train application, the train operation path and the train arrival time sequence on a section of route resource or turnout resource, and determining the priority of each train;
step S3: estimating the operation time of each train according to the train operation task information and the train priority information, wherein the operation time comprises the local operation time for executing each local operation task by the train and the overall operation time for executing the overall operation task;
step S4: generating a train operation plan according to the train operation task information, the train priority information and the train operation time information, and applying for route resources or turnout resources for the train;
step S5: monitoring the state of each section of route resource or turnout resource, and authorizing or queuing for authorization of the train application of the section of route resource or turnout resource;
step S6: the train executes corresponding operation and generates train operation state information according to the own route resource or turnout resource authorization information;
step S7: and further adjusting the train operation plan according to the route resource or turnout resource state and the train operation state information, and repeating the steps S5-S6.
Compared with the prior art, the rail transit operation control system provided by the invention can adjust the train operation plan in time, so that the system can rapidly cope with various special operation scenes, the operation burden of operation scheduling personnel is reduced, and the operation efficiency and the service level are improved.
Drawings
FIG. 1 is a schematic structural diagram of a rail transit operation control system according to the present invention;
fig. 2 is a schematic flow chart of a rail transit operation control method according to the present invention.
Detailed Description
The present invention will be further described by the detailed description of preferred embodiments with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a rail transit operation control system according to the present invention. As shown in fig. 1, the rail transit operation control system provided by the present invention includes an operation plan management module 1, a resource management module 2, and a train module 3. The train operation plan is generated through the operation plan management module 1, and route resources or turnout resources are applied for each train according to the train operation plan. The resource management module 2 authorizes the application of route resources or turnout resources of each train and sends authorization information to the operation plan management module 1 and the train module 3; the resource management module 2 also monitors the state information of each operation route in real time and sends the state information of the operation route to the operation plan management module 1. The train module 3 executes a train operation plan according to the authorization state of route resources or turnout resources, and feeds back the operation state information of each train to the operation plan management module 1 and the resource management module 2. The operation plan management module 1 adjusts the train operation plan in time according to the operation route state information received from the resource management module 2 and the train operation state information received from the train module 3, so that the train can more efficiently and rapidly deal with special operation scenes, and operation tasks are completed.
Specifically, the operation plan management module 1 further includes a train operation task decomposition module 11, a train operation task sorting module 12, a train operation task duration estimation module 13, and a train operation progress management module 14.
The train operation task decomposition module 11 decomposes the whole operation task of the train into a plurality of local operation tasks. The whole operation task of the train is the operation task of the train from the starting station to the terminal station; the operation route from the starting station to the terminal station of the train is divided into a plurality of route sections, and each route section is mutually connected with the adjacent route section, so that all the route sections of each train are spliced along the operation direction to form the complete train operation route. The section of route interval is a section of route resource or turnout resource, the operation task of the train in each section of route interval is a local operation task of the train, and each local operation task of the train corresponds to the section of route resource or turnout resource. When the train executes the operation tasks, each local operation task is completed one by one along the operation direction, so that the whole operation plan is orderly completed, and the efficient operation of the train is ensured.
The train operation task decomposition module 11 sends train operation task information, including train whole operation task information and local operation task information, to the train operation task sorting module 12. The whole train operation task information comprises a total starting station, a total terminal station, an operation direction, departure time, speed limit and the like; the local train operation task comprises operation direction, arrival time, departure time and speed per hour requirements.
The train operation task ordering module 12 processes the received train operation task information, including primarily estimating the time for the train to reach each section of route resource or switch resource, and determining the number of local train operation tasks, i.e., the number of trains, corresponding to each section of route resource or switch resource.
When the local operation tasks of a plurality of trains (two or more) are found to correspond to the same section of route resources or turnout resources, namely, a plurality of trains apply the same section of route resources or turnout resources, the train operation task sequencing module determines the priority level of each train and generates train priority level information according to the sequence of each train application, the train operation path and the arrival time sequence of the trains on the section of route resources or turnout resources, so that the reasonable and efficient utilization of the operation route is realized, and the condition that the operation route conflicts and the operation route deadlock are caused by the trains is avoided.
Specifically, the train operation direction and the destination are judged according to the train operation path, if the operation directions of a plurality of trains on the section of route resource or turnout resource are the same, namely, the trains operate in the same direction, and the destinations are overlapped, according to the sequence of train application, the train applied first has the highest priority level, the section of route resource or turnout resource is preferentially assessed, the train having the highest priority level finishes the operation on the section of route resource or turnout resource, and other trains can assess the section of route resource or turnout resource.
If a plurality of trains are operated in opposite directions on the section of route resource or turnout resource, namely, opposite operation is carried out, destinations are overlapped, in order to guarantee operation efficiency and avoid deadlock of the operation route, according to the time sequence of the trains reaching the section of route resource or turnout resource, the trains which arrive first have the highest priority level, the section of route resource or turnout resource is preferentially assessed, the trains having the highest priority level complete operation on the section of route resource or turnout resource, and other trains can assess the section of route resource or turnout resource.
The train operation task sequencing module 12 sends the received train operation task information and the generated train priority information to the train operation task duration estimation module 13.
The train operation task duration estimation module 13 estimates train operation time and generates train operation time information according to the train operation task information received from the train operation task decomposition module 11 and the train priority information received from the train operation task sorting module 12. The train operation time information comprises local operation time information for executing each local operation task by the train and overall operation time information for executing the overall operation task.
The train operation task duration estimation module 13 sends the received train operation task information and train priority information, and the generated train operation time information to the train operation progress management module 14.
The train operation progress management module 14 generates a train operation plan according to the train operation task information, the train priority information, and the train operation time information received by the train operation progress management module, and applies for route resources or turnout resources for the train according to the train operation plan. The train operation progress management module 14 applies for a route resource or a turnout resource for the train according to the operation plan, and sends application information to the resource management module 2.
The resource management module 2 decomposes each operation route into a plurality of route resources and/or a plurality of turnout resources; each section of route resource or turnout resource obtained by decomposition corresponds to a local operation task of the train. Each route resource or switch resource is not subdivided and only one train is allowed to enter into operation for a period of time.
The resource management module 2 monitors the state of each section of route resource or turnout resource and generates corresponding route resource or turnout resource state information. When the resource management module monitors that a certain section of route resource or turnout resource is in a state to be assessed, the application of other trains to the section of route resource or turnout resource is authorized, authorization information is sent to the train operation progress management module 14 and the train module 3, and operation is executed by the corresponding train in the train module 3. The resource management module further sends the state information of the route resource or the turnout resource to the train operation progress management module 14.
When a certain section of route resource or switch resource is in a fault or commander state, the application of other trains to the section of route resource or switch resource is not immediately authorized, the application enters a queue waiting state, and the resource management module sends the state information of the section of route resource or switch resource to the train operation progress management module 14.
The train module 3 comprises a plurality of trains, each train has an identification code, and the identification codes are used for identifying corresponding trains and train information in the rail transit operation control system. Each train receives the authorization information from the resource management module 2 and executes corresponding operation according to the authorization information. The train sends the operation state information to the train operation progress management module 14 and the resource management module 2.
And the train operation progress management module also adjusts the train operation plan in real time according to the received route resource or turnout resource state information and the train operation state information.
Fig. 2 is a schematic flow chart of a rail transit operation control method according to the present invention. As shown in fig. 2, the method for controlling rail transit operation provided by the present invention specifically includes the following steps:
step S1, decomposing the whole operation task of the train to generate train operation task information, including the whole operation task information and the local operation task information;
step S2: according to the train operation task information, judging the sequence of each train application, the train operation path and the train arrival time sequence on a section of route resource or turnout resource, and determining the priority of each train;
step S3: estimating the operation time of each train according to the train operation task information and the train priority information, wherein the operation time comprises the local operation time for executing each local operation task by the train and the overall operation time for executing the overall operation task;
step S4: generating a train operation plan according to the train operation task information, the train priority information and the train operation time information, and applying for route resources or turnout resources for the train;
step S5: monitoring the state of each section of route resource or turnout resource, and authorizing or queuing for authorization of the train application of the section of route resource or turnout resource;
step S6: the train executes corresponding operation and generates train operation state information according to the own route resource or turnout resource authorization information;
step S7: and further adjusting the train operation plan according to the route resource or turnout resource state and the train operation state information, and repeating the steps S5-S6.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. A rail transit operation control system is characterized by comprising an operation plan management module, a resource management module and a train module; the operation plan management module further comprises a train operation task decomposition module, a train operation task sequencing module, a train operation task duration estimation module and a train operation progress management module; the train module comprises a plurality of trains;
generating a train operation plan through the operation plan management module, and applying route resources or turnout resources for each train; the train operation task duration estimation module estimates train operation time and generates train operation time information according to the train operation task information and the train priority information; the train operation time information comprises local operation time information for the train to execute each local operation task and overall operation time information for executing the overall operation task;
the resource management module is used for authorizing or queuing the application of the route resource or the turnout resource of each train and sending authorization information to the operation plan management module and the train module; the resource management module also monitors the state information of each operation route in real time and sends the state information to the operation plan management module;
the train module executes a train operation plan according to the authorization state of route resources or turnout resources, and feeds back the operation state information of each train to the operation plan management module and the resource management module;
and the operation plan management module adjusts the train operation plan in time according to the operation route state information and the train operation state information.
2. The rail transit operation control system according to claim 1, wherein the train operation task decomposition module decomposes an overall operation task of a train into a plurality of local operation tasks; and the train operation task decomposition module sends train operation task information including the whole train operation task information and the local train operation task information to the train operation task sequencing module.
3. The rail transit operation control system according to claim 2, wherein the train operation task ordering module processes the train operation task information, and determines the priority of each train according to the sequence of each train application, the train operation route, and the time sequence of train arrival on a section of route resources or switch resources.
4. The rail transit operation control system according to claim 1, wherein the train operation schedule management module generates a train operation plan for applying for a route resource or a switch resource for a train according to train operation task information, train priority information, and train operation time information.
5. The rail transit operation control system according to claim 1, wherein the resource management module decomposes each operation route into a plurality of route resources and/or a plurality of switch resources;
each section of route resource or turnout resource corresponds to a local operation task of the train;
each route resource or turnout resource can not be decomposed any more, and only one train is allowed to run in operation within a period of time.
6. The rail transit operation control system according to claim 5, wherein the resource management module monitors the state of each route resource or switch resource, and applies for authorization or queue waiting for the route resource or switch resource of each train according to the state of the route resource or switch resource.
7. The rail transit operation control system of claim 6, wherein each train has an identification code for identifying a corresponding train and train information in the rail transit operation control system;
each train receives the authorization information of the route resource or the turnout resource and executes corresponding operation; and the train sends the operation state information to the train operation progress management module and the resource management module.
8. The rail transit operation control system according to claim 7, wherein the train operation schedule management module adjusts the train operation plan in real time according to the received state information of the route resource or the switch resource and the train operation state information.
9. A rail transit operation control method is used for the rail transit operation control system of any one of claims 1 to 8, and is characterized by comprising the following steps:
step S1: decomposing the whole operation task of the train to generate train operation task information which comprises the whole operation task information and the local operation task information of the train;
step S2: according to the train operation task information, judging the sequence of each train application, the train operation path and the train arrival time sequence on a section of route resource or turnout resource, and determining the priority of each train;
step S3: estimating the operation time of each train according to the train operation task information and the train priority information, wherein the operation time comprises the local operation time for executing each local operation task by the train and the overall operation time for executing the overall operation task;
step S4: generating a train operation plan according to the train operation task information, the train priority information and the train operation time information, and applying for route resources or turnout resources for the train;
step S5: monitoring the state of each section of route resource or turnout resource, and authorizing or queuing for authorization of the train application of the section of route resource or turnout resource;
step S6: the train executes corresponding operation and generates train operation state information according to the own route resource or turnout resource authorization information;
step S7: and further adjusting the train operation plan according to the route resource or turnout resource state and the train operation state information, and repeating the steps S5-S6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011543624.XA CN112590889B (en) | 2020-12-23 | 2020-12-23 | Rail transit operation control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011543624.XA CN112590889B (en) | 2020-12-23 | 2020-12-23 | Rail transit operation control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112590889A CN112590889A (en) | 2021-04-02 |
| CN112590889B true CN112590889B (en) | 2022-06-24 |
Family
ID=75200622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011543624.XA Active CN112590889B (en) | 2020-12-23 | 2020-12-23 | Rail transit operation control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112590889B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113393138B (en) * | 2021-05-24 | 2023-11-21 | 交控科技股份有限公司 | Switch operation conflict resolution method and system |
| CN113247055A (en) * | 2021-05-31 | 2021-08-13 | 中国铁道科学研究院集团有限公司通信信号研究所 | Tramcar signal control system based on distributed target control |
| CN114275015B (en) * | 2021-12-13 | 2023-08-29 | 卡斯柯信号有限公司 | Train control system and control method based on resource management |
| CN116118823A (en) * | 2022-09-07 | 2023-05-16 | 卡斯柯信号有限公司 | Method, equipment and storage medium for ordering management of rail transit line resources |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04151373A (en) * | 1990-10-15 | 1992-05-25 | Mitsubishi Electric Corp | Train schedule preparation device |
| JP2001171523A (en) * | 1999-12-20 | 2001-06-26 | Mitsubishi Electric Corp | Method and device for drawing train schedule chart |
| CN104875774A (en) * | 2015-06-16 | 2015-09-02 | 北京交通大学 | Train delay adjusting method and system based on urban rail transit working diagram |
| CN105857350A (en) * | 2016-03-17 | 2016-08-17 | 中南大学 | High-speed rail train driving method based on section profile passenger flow |
| CN107563546A (en) * | 2017-08-17 | 2018-01-09 | 西南交通大学 | A kind of High Speed Railway Train Diagram preparation method based on Regional Synergetic |
| CN111016979A (en) * | 2019-11-29 | 2020-04-17 | 卡斯柯信号有限公司 | Automatic adjusting method for urban rail transit train based on real-time passenger flow |
| CN111923966A (en) * | 2020-07-16 | 2020-11-13 | 北京交通大学 | Urban rail transit train operation control system for different intelligent levels |
-
2020
- 2020-12-23 CN CN202011543624.XA patent/CN112590889B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04151373A (en) * | 1990-10-15 | 1992-05-25 | Mitsubishi Electric Corp | Train schedule preparation device |
| JP2001171523A (en) * | 1999-12-20 | 2001-06-26 | Mitsubishi Electric Corp | Method and device for drawing train schedule chart |
| CN104875774A (en) * | 2015-06-16 | 2015-09-02 | 北京交通大学 | Train delay adjusting method and system based on urban rail transit working diagram |
| CN105857350A (en) * | 2016-03-17 | 2016-08-17 | 中南大学 | High-speed rail train driving method based on section profile passenger flow |
| CN107563546A (en) * | 2017-08-17 | 2018-01-09 | 西南交通大学 | A kind of High Speed Railway Train Diagram preparation method based on Regional Synergetic |
| CN111016979A (en) * | 2019-11-29 | 2020-04-17 | 卡斯柯信号有限公司 | Automatic adjusting method for urban rail transit train based on real-time passenger flow |
| CN111923966A (en) * | 2020-07-16 | 2020-11-13 | 北京交通大学 | Urban rail transit train operation control system for different intelligent levels |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112590889A (en) | 2021-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112590889B (en) | Rail transit operation control system and control method | |
| US20200082304A1 (en) | Method, Apparatus and Device for Scheduling Unmanned Vehicles and Storage Medium | |
| JP6444565B2 (en) | Train operation control system and train operation control method | |
| CN104002836B (en) | A kind of traffic location information obtains the method and device of display in real time | |
| CN110675032A (en) | Vehicle scheduling method and device | |
| Hall | Vehicle scheduling at a transportation terminal with random delay en route | |
| KR20160080056A (en) | Managing method for service schedule of fleet | |
| EP3771615A1 (en) | Method and apparatus for providing dynamic train control | |
| RU2738773C2 (en) | Predicative control over multimodal ground transportation | |
| CN106157677B (en) | Vehicle scheduling management system based on intelligent back vision mirror | |
| Ceder et al. | Designing synchronization into bus timetables | |
| CN107103388B (en) | Robot scheduling system and method based on demand prediction | |
| US20220348242A1 (en) | Method and Apparatus for Operation of Railway Systems | |
| CN113096449B (en) | Flight big data-based shutdown position resource arrangement method and system | |
| Ji et al. | Dynamic holding strategy to prevent buses from bunching | |
| CN110920684B (en) | Method and device for determining train position information, electronic equipment and storage medium | |
| CN106297269A (en) | Riding information sharing method and system | |
| Fitouri-Trabelsi et al. | An operational approach for ground handling management at airports with imperfect information | |
| CN113808420B (en) | Information prompting method and device for vehicle, storage medium and electronic equipment | |
| CN114372688A (en) | Passenger station taxi capacity scheduling method, system, computer device and storage medium | |
| CN114331231A (en) | Method and system for scheduling public transport | |
| CN112486187A (en) | Linear reciprocating type double-RGV task scheduling system and scheduling algorithm | |
| Shen et al. | Dynamic vehicle scheduling based on HTN | |
| CN115796494B (en) | Work order processing method and work order information display method for unmanned vehicle | |
| CN112508419A (en) | Station integrated automation system, scheduling method and control terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 40040751 Country of ref document: HK |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |