CN115235501B - Logistics bulk cargo loading vehicle driving track planning control system and method - Google Patents
Logistics bulk cargo loading vehicle driving track planning control system and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The invention discloses a system and a method for planning and controlling a driving track of a logistics bulk cargo loading vehicle, which relate to the technical field of vehicle track control and comprise a data acquisition module, a model processing module, an information processing module and a track analysis module; the logistics loading vehicle track planning system comprises a data acquisition module, a model processing module, an information processing module and a track analysis module, wherein the data acquisition module is used for acquiring various information data required in the logistics loading vehicle track planning control process, the model processing module is used for establishing a logistics loading vehicle track planning model according to the acquired information data, the information processing module is used for processing the information data acquired by the data acquisition module, and the track analysis module is used for planning and controlling the logistics loading vehicle track.
Description
Technical Field
The invention relates to the technical field of vehicle track control, in particular to a system and a method for planning and controlling a running track of a logistics bulk cargo loading vehicle.
Background
The logistics bulk cargo loading vehicle is a vehicle for transporting logistics products in the logistics transportation industry, and in general, in order to improve the efficiency of logistics transportation and the utilization rate of the logistics loading vehicle, the logistics loading vehicle can distribute logistics cargo according to cities with different destination information ways for loading cargo, so that the distribution of logistics cargo in multiple cities can be completed at one time, but for the traveling track of the logistics loading vehicle for transporting cargo, a driver plans a traveling route according to existing navigation software in general, or a track planning system plans the traveling track according to the principle that the route is shortest, however, in any of the above track planning ways, the returning situation of the logistics loading vehicle cannot be fully considered, the returning route is wasted, and when two cities are close to each other, the bypassing situation is caused, and the transportation of the logistics cargo is influenced;
therefore, there is a need for a system and a method for planning and controlling the driving track of a logistics bulk cargo loading vehicle to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a system and a method for planning and controlling a running track of a logistics bulk cargo loading vehicle, which aim to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a logistics bulk cargo loading vehicle driving track planning control system comprises a data acquisition module, a model processing module, an information processing module and a track analysis module;
the system comprises a data acquisition module, a model processing module, an information processing module and a track analysis module, wherein the data acquisition module is used for acquiring various information data required in the process of planning and controlling the driving track of the logistics loading vehicle;
the output end of the data acquisition module is connected with the input ends of the model processing module and the information processing module, the output end of the model processing module is connected with the input end of the information processing module, and the output end of the information processing module is connected with the input end of the trajectory analysis module.
According to the technical scheme, the data acquisition module comprises a map importing unit and an information acquisition unit;
the map importing unit is used for importing map information of a delivery area in charge of the logistics loading vehicle so as to plan and control a driving track of the logistics loading vehicle in the delivery area according to the cargo information on the logistics loading vehicle; the information acquisition unit is used for acquiring related information of bulk goods on the logistics loading vehicle, so that a passing point of a driving track of the logistics loading vehicle can be determined according to the acquired related information;
the output end of the map importing unit is connected with the input end of the model processing module, and the output end of the information acquiring unit is connected with the input end of the information processing module.
According to the technical scheme, the model processing module comprises a coordinate system establishing unit, a site marking unit, a coordinate value giving unit and an area dividing unit;
the coordinate system establishing unit is used for establishing a plane rectangular coordinate system by taking any point as an original point on the imported map information, so that the running track planning of the logistics loading vehicle is converted into digital analysis processing, and the reasonability of the running track planning is improved; the station marking unit is used for marking the delivery station responsible for the logistics loading vehicle on the imported map information; the coordinate value giving unit is used for giving a coordinate value to each delivery station marked on the map information so as to digitally plan and control the running track of the logistics loading vehicle according to a digital positioning mode and ensure the reasonability of the running track of the logistics loading vehicle; the area dividing unit is used for establishing a circular area by taking the delivery site as a circle center, and dividing the circular area into at least four equally divided fan-shaped areas, wherein the fan-shaped areas are used for determining the direction of the logistics loading vehicle reaching the delivery site so as to determine whether the running track reaching the delivery site is reasonable or not and avoid unreasonable running track planning;
the output end of the map importing unit is connected with the input end of the coordinate system establishing unit, the output end of the coordinate system establishing unit is connected with the input end of the site marking unit, the output end of the site marking unit is connected with the input end of the coordinate value giving unit, and the output end of the coordinate value giving unit is connected with the input end of the area dividing unit.
According to the technical scheme, the information processing module comprises an information gathering unit and a station determining unit;
the information gathering unit is used for carrying out unified processing on the information data acquired by the information acquisition unit, so that the grade of a cargo destination can be unified, and the planning of the traveling track of the logistics loading vehicle is facilitated; the station determining unit is used for determining the position of the station according to the information data gathered by the information gathering unit so as to plan and control the running track of the logistics loading vehicle according to the position information of the station;
the output end of the information acquisition unit is connected with the input end of the information aggregation unit, the output end of the information aggregation unit is connected with the input end of the site determination unit, the output end of the area division unit is connected with the input end of the site determination unit, and the output end of the site determination unit is connected with the input end of the trajectory analysis module.
According to the technical scheme, the track analysis module comprises a track planning unit, a track analysis unit, an end point determining unit and a track determining unit;
the track planning unit is used for planning the running track of the logistics loading vehicle according to the station position information determined by the station determining unit, and ensuring that the running track of the logistics loading vehicle passes through each determined station, so that bulk goods can be smoothly delivered to the station; the track analysis unit is used for analyzing a plurality of driving tracks planned by the track planning unit, and searching and judging the optimal driving track, so that the driving mileage can be reduced and the cost can be saved when the logistics loading vehicle transports bulk goods; the destination determining unit is used for confirming a destination in the driving tracks according to the plurality of driving tracks planned by the track planning unit, and dividing the driving tracks into a starting route and a returning route, so that the delivery sequence can be reasonably distributed according to the position information of the stations, and part of the stations are placed on the returning route for distributing the bulk cargo, thereby reducing the length of the driving tracks of the logistics loading vehicle; the track determining unit determines the final driving track of the logistics loading vehicle according to the analysis result of the planning and analyzing unit and the determination result of the end point determining unit, and performs final planning on the driving track according to the actual road condition;
the output end of the station determining unit is connected with the input end of the track planning unit, the output end of the track planning unit is connected with the input ends of the track analyzing unit and the end point determining unit, and the output ends of the track analyzing unit and the end point determining unit are connected with the input end of the track determining unit.
A method for planning and controlling a traveling track of a logistics bulk cargo loading vehicle comprises the following steps:
s1, map information of a delivery area in charge of a logistics loading vehicle is led in by using a map leading-in unit, and a driving track planning model is built on the map information by using a model processing module;
s2, acquiring related information of bulk goods on the logistics loading vehicle by using an information acquisition unit, and processing the acquired related information by using an information processing module;
s3, planning a possible running track of the bulk goods on the logistics loading vehicle in the delivery process by using a track planning unit;
s4, analyzing the plurality of driving tracks planned by the track planning unit by using the planning analysis unit and the terminal point determination unit;
and S5, finally determining the running track of the logistics loading vehicle by utilizing the track determining unit according to the analysis results of the track analyzing unit and the end point determining unit.
According to the technical scheme, in S1, map information of a delivery area in charge of the logistics loading vehicle is imported by using a map importing unit, a rectangular plane coordinate system is established on the map information by using a coordinate system establishing unit, delivery stations in charge of the logistics loading vehicle are marked on the map information by using a station marking unit, and each delivery station on the map information is endowed with a coordinate value by using a coordinate value endowing unitThe coordinates of the cargo station
Set of coordinate values constituting delivery station
Wherein n represents that the logistics loading vehicle is responsible for n delivery stations in the delivery area;
giving coordinate values to delivery stations of a delivery area of the logistics loading vehicle, realizing digital conversion, and facilitating digital planning and control of a driving track of the logistics loading vehicle in the later period;
the area dividing unit establishes a circular area with the radius of R by taking each delivery station as the center of a circle, and the function formed by the boundary of the circular area is
Wherein, in the step (A),
an abscissa value representing the ith delivery station in a plane rectangular coordinate system,
expressing a longitudinal coordinate value of the ith delivery station in a plane rectangular coordinate system;
by using
And dividing the circular area into at least four equally divided fan-shaped areas, wherein a represents the slope of the function, and b represents the ordinate value of the intersection point between the function and the Y axis of the plane rectangular coordinate system.
According to the technical scheme, in S2, the information acquisition unit is used for acquiring the destination information of the bulk cargos on the logistics loading vehicle, the information aggregation unit is used for aggregating the acquired destination information, the grade of the destination information is unified, and the station determination unit is used for determining the destination information aggregated by the information aggregation unitThe delivery stations through which the logistics loading vehicle needs to deliver the bulk goods form a coordinate value set of the delivery stations
M < n, wherein m represents that the logistics loading vehicle needs to pass through m delivery stations,
is a coordinate value of a station where the delivery start point is located.
According to the technical scheme, in S3-S4, the number of the logistics loading vehicle driving tracks planned by the track planning unit is
Wherein, in the step (A),
represents a factorial of m-1; the track analysis units are respectively coupled
The distance of each driving track is calculated to form a set of driving track distances
Extracting the first Z percent of the track distances in the sequence from small to large from the set S by using a track analysis unit;
analyzing the extracted track distance by using a track analysis unit;
analyzing the end point of the travel track of the logistics loading vehicle according to the following steps:
s401, establishing a vector between one delivery station and two adjacent delivery stations in the driving track:
wherein k represents the kth delivery station in a certain driving track, k +1 represents the kth driving station in a certain driving track, k-1 represents the kth driving station in a certain driving track,
representing a vector directed by the kth delivery site to the (k + 1) th delivery site,
representing a vector directed by the kth delivery site to the kth-1 delivery site;
s402, solving
And
angle therebetween
：
S403, aligning included angles
Judging the size of the sample:
when in use
When the angle between the kth delivery station and the (k + 1) th delivery station and the angle between the kth delivery station and the (k-1) th delivery station are smaller than a set threshold value, and the kth delivery station is used as an inflection point on the traveling track of the logistics loading vehicle;
when in use
If so, indicating that an included angle between the kth delivery site and the k +1 th delivery site and an included angle between the kth delivery site and the k-1 th delivery site are larger than or equal to a set threshold value, not taking the kth delivery site as an inflection point on a driving track of the logistics loading vehicle, and indicating the number of the sector-shaped areas by k;
setting an inflection point on the driving track as an end point of the driving track by using an end point determining unit, setting a driving route before the end point as a starting route, and setting a driving route after the end point as a returning route;
s404, forming a set of inflection point numbers on the driving track
(ii) a Wherein c represents a total of c travel trajectories.
The inflection point number is analyzed and calculated, so that the running path with the minimum inflection point number is selected from a plurality of running tracks with small distance, and the condition that the logistics loading vehicle bypasses in the running process is avoided.
According to the technical scheme, in S5, the track determining unit is used for selecting the running track with the minimum number of inflection points from the set U as the finally determined running track of the logistics loading vehicle, and if the running track with the minimum number of inflection points is more than one, the running track with the minimum distance is selected from the running tracks with the minimum number of inflection points as the finally determined running track of the logistics loading vehicle.
Compared with the prior art, the invention has the beneficial effects that:
1. the logistics loading vehicle is provided with the track analysis module, the track planning unit is used for planning a plurality of running tracks, the track analysis unit and the terminal of the terminal point determining unit are used for reasonably determining the running tracks, and the return route is fully used for distributing bulk goods, so that the delivery route of the logistics loading vehicle to the bulk goods is more reasonable, and the distribution cost is saved;
2. the terminal point of the logistics loading vehicle when the bulk cargo is distributed is determined according to the running route, so that the logistics loading vehicle cannot deliver the bulk cargo by detour, and the planning and control of the running route are more reasonable.
3. The logistics loading vehicle planning system is provided with the model processing module, and the logistics loading vehicle planning model is established in the logistics loading vehicle distribution area, so that the logistics loading vehicle planning is digitally processed, and the planned driving route is more reasonable.
Drawings
Fig. 1 is a schematic diagram of a module composition of a system for planning and controlling a traveling track of a logistics bulk cargo loading vehicle according to the invention;
FIG. 2 is a schematic connection diagram of a driving path planning control system of a logistics bulk cargo loader according to the present invention;
FIG. 3 is a schematic flow chart illustrating steps of a method for planning and controlling a driving track of a logistics bulk cargo loading vehicle according to the present invention;
fig. 4 is a schematic structural diagram of a driving trajectory planning model in the system and method for planning and controlling the driving trajectory of the logistics bulk cargo loading vehicle according to the present invention;
fig. 5 is a schematic view of the sector area division in the system and method for planning and controlling the driving track of the logistics bulk cargo loading vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the present invention provides a driving trajectory planning control system for a logistics bulk cargo loading vehicle, which comprises a data acquisition module, a model processing module, an information processing module and a trajectory analysis module;
the system comprises a data acquisition module, a model processing module, an information processing module and a track analysis module, wherein the data acquisition module is used for acquiring various information data required in the process of planning and controlling the driving track of the logistics loading vehicle;
the output end of the data acquisition module is connected with the input ends of the model processing module and the information processing module, the output end of the model processing module is connected with the input end of the information processing module, and the output end of the information processing module is connected with the input end of the track analysis module.
The data acquisition module comprises a map importing unit and an information acquisition unit;
the map import unit is used for importing map information of a delivery area in charge of the logistics loading vehicle so as to plan and control a driving track of the logistics loading vehicle in the delivery area according to the cargo information on the logistics loading vehicle; the information acquisition unit is used for acquiring the related information of the bulk cargo on the logistics loading vehicle, such as: the destination information of the goods enables the passing points of the driving track of the logistics loading vehicle to be determined according to the obtained relevant information;
the output end of the map importing unit is connected with the input end of the model processing module, and the output end of the information acquiring unit is connected with the input end of the information processing module.
The model processing module comprises a coordinate system establishing unit, a site marking unit, a coordinate value endowing unit and an area dividing unit;
the coordinate system establishing unit is used for establishing a plane rectangular coordinate system by taking any point as an original point on the imported map information, so that the running track planning of the logistics loading vehicle is converted into digital analysis processing, and the running track planning rationality is improved; the site marking unit is used for marking the delivery sites responsible for the logistics loading vehicles on the imported map information, and the sites can be city names or specific warehouse addresses; the coordinate value endowing unit is used for endowing each delivery station marked on the map information with a coordinate value so as to digitally plan and control the running track of the logistics loading vehicle according to a digital positioning mode and ensure the reasonability of the running track of the logistics loading vehicle; the area dividing unit is used for establishing a circular area by taking the delivery site as a circle center, and dividing the circular area into at least four equally divided fan-shaped areas, wherein the fan-shaped areas are used for determining the direction of the logistics loading vehicle reaching the delivery site so as to determine whether the driving track reaching the delivery site is reasonable or not and avoid unreasonable driving track planning;
the output end of the map importing unit is connected with the input end of the coordinate system establishing unit, the output end of the coordinate system establishing unit is connected with the input end of the site marking unit, the output end of the site marking unit is connected with the input end of the coordinate value giving unit, and the output end of the coordinate value giving unit is connected with the input end of the area dividing unit.
The information processing module comprises an information gathering unit and a site determining unit;
the information aggregation unit is configured to perform unification processing on the information data acquired by the information acquisition unit, for example: unifying all the prefectural cities with the destination as prefectural cities to form prefectural cities which the prefectural cities belong to, so that the grades of goods destinations can be unified, and the planning of the driving tracks of the logistics loading vehicles is facilitated; the station determining unit is used for determining the position of the station according to the information data gathered by the information gathering unit so as to plan and control the running track of the logistics loading vehicle according to the position information of the station;
the output end of the information acquisition unit is connected with the input end of the information aggregation unit, the output end of the information aggregation unit is connected with the input end of the site determination unit, the output end of the area division unit is connected with the input end of the site determination unit, and the output end of the site determination unit is connected with the input end of the trajectory analysis module.
The track analysis module comprises a track planning unit, a track analysis unit, an end point determination unit and a track determination unit;
the track planning unit is used for planning the running track of the logistics loading vehicle according to the station position information determined by the station determining unit, and ensuring that the running track of the logistics loading vehicle passes through each determined station, so that bulk goods can be smoothly delivered to the station; the track analysis unit is used for analyzing the plurality of driving tracks planned by the track planning unit, and searching and judging the optimal driving track, so that the driving mileage can be reduced and the cost can be saved when the logistics loading vehicle transports bulk goods; the destination determining unit is used for confirming a destination in the driving tracks according to the plurality of driving tracks planned by the track planning unit and dividing the driving tracks into a starting route and a returning route, so that the delivery sequence can be reasonably distributed according to the position information of the stations, part of the stations are placed on the returning route for distributing the bulk goods, the length of the driving tracks of the logistics loading vehicle is reduced, compared with the traditional method of reloading the bulk goods in returning, the waiting time of the logistics loading vehicle is reduced, and the system can plan and control the driving tracks under the condition of no returning goods; the track determining unit determines the final driving track of the logistics loading vehicle according to the analysis result of the planning and analyzing unit and the determination result of the end point determining unit, and performs final planning on the driving track according to the actual road condition;
the output end of the station determining unit is connected with the input end of the track planning unit, the output end of the track planning unit is connected with the input ends of the track analyzing unit and the end point determining unit, and the output ends of the track analyzing unit and the end point determining unit are connected with the input end of the track determining unit.
A method for planning and controlling a traveling track of a logistics bulk cargo loading vehicle comprises the following steps:
s1, map information of a delivery area in charge of a logistics loading vehicle is led in by using a map leading-in unit, and a driving track planning model is built on the map information by using a model processing module;
s2, acquiring related information of bulk goods on the logistics loading vehicle by using an information acquisition unit, and processing the acquired related information by using an information processing module;
s3, planning a possible running track of the bulk goods on the logistics loading vehicle in the delivery process by using a track planning unit;
s4, analyzing the plurality of driving tracks planned by the track planning unit by using a planning analysis unit and a terminal point determining unit;
and S5, finally determining the running track of the logistics loading vehicle by utilizing the track determining unit according to the analysis results of the track analyzing unit and the end point determining unit.
In S1, map information of a delivery area in charge of the logistics loading vehicle is imported by a map importing unit, a rectangular plane coordinate system is established on the map information by a coordinate system establishing unit, delivery stations in charge of the logistics loading vehicle are marked on the map information by a station marking unit, and each delivery station on the map information is endowed with coordinate values by a coordinate value endowing unit
Set of coordinate values constituting delivery station
Wherein n represents that the logistics loading vehicle is responsible for n delivery stations in the delivery area;
giving coordinate values to delivery stations of a delivery area of the logistics loading vehicle, realizing digital conversion, and facilitating digital planning and control of a driving track of the logistics loading vehicle in the later period;
the region dividing unit establishes a circular region with the radius of R by taking each delivery station as the center of a circle, and the function formed by the boundary of the circular region is
Wherein, in the step (A),
an abscissa value representing the ith delivery station in a rectangular plane coordinate system,
a longitudinal coordinate value of the ith delivery station in a plane rectangular coordinate system is represented;
by using
Dividing the circular area into at least four equally divided sector areas, wherein a represents the slope of the function, and b represents the ordinate value of the intersection point between the function and the Y axis of the planar rectangular coordinate system, for example: the circular boundary is formed as a function of
Using sets of functions
The circular area is divided into four equally divided sector areas.
In S2, the information obtaining unit obtains destination information of the bulk cargo on the logistics loading vehicle, the information aggregating unit aggregates the obtained destination information, and the level of the destination information is unified, for example: unifying all the prefectures with the destinations as prefectures belonging to the prefectures, determining delivery sites through which the logistics loading vehicle needs to pass to form coordinate value sets of the delivery sites according to the destination information gathered by the information gathering unit by using the site determining unit
M < n, wherein m represents that the logistics loading vehicle needs to pass through m delivery stations,
is a coordinate value of a station where the delivery start point is located.
In S3-S4, the number of the logistics loading vehicle driving tracks planned by the track planning unit is
Wherein, in the step (A),
represents a factorial of m-1; because the delivery station where the origin of delivery is located is eliminated, there are also
The delivery stations are calculated by means of permutation and combination, and the total number is
A strip travel track;
the track analysis units are respectively paired
The distance of each driving track is calculated, and the specific calculation mode can be as follows: calculating the straight-line distance between two adjacent delivery stations on a driving track, and then adding the straight-line distances between every two stations on the driving track to obtain the total distance of the driving track to form a set of driving track distances
Extracting the top Z percent of the track distances in the order from small to large from the set S by using a track analysis unit, such as: selecting the top ten percent of the trace distances sorted from small to large from the set S;
analyzing the extracted track distance by using a track analysis unit;
analyzing the end point of the driving track of the logistics loading vehicle according to the following steps:
s401, establishing a vector between one delivery station and two adjacent delivery stations in the driving track:
wherein k represents the kth delivery station in a certain driving track, k +1 represents the kth driving station in a certain driving track, k-1 represents the kth driving station in a certain driving track,
representing a vector directed by the kth delivery site to the (k + 1) th delivery site,
representing a vector directed by the kth delivery site to the kth-1 delivery site;
s402, solving
And
angle therebetween
：
S403, aligning included angles
Judging the size of the sample:
when in use
When the angle between the kth delivery station and the (k + 1) th delivery station and the angle between the kth delivery station and the (k-1) th delivery station are smaller than a set threshold value, and the kth delivery station is used as an inflection point on the traveling track of the logistics loading vehicle;
when in use
If the included angle between the kth delivery site and the kth +1 delivery site and the included angle between the kth delivery site and the kth-1 delivery site is larger than or equal to a set threshold value, the kth delivery site is not taken as an inflection point on the driving track of the logistics loading vehicle, and k represents the number of sector areas;
setting an inflection point on the driving track as an end point of the driving track by using an end point determining unit, setting a driving route before the end point as a starting route, and setting a driving route after the end point as a returning route;
through the analysis and comparison, the purpose is to ensure that the direction of entering a certain delivery station is not approximate to the direction of leaving the delivery station, so that the situation that the vehicle returns after going to a certain station, which can cause the increase of the travel track distance, is avoided;
s404, forming a set of inflection point numbers on the driving track
(ii) a Where c represents a total of c travel trajectories.
The inflection point number is analyzed and calculated, so that the running path with the minimum inflection point number is selected from a plurality of running tracks with small distance, and the condition that the logistics loading vehicle bypasses in the running process is avoided.
In S5, the trajectory determination unit selects the travel trajectory with the smallest number of inflection points from the set U as the travel trajectory finally determined by the logistics van, and if there is more than one travel trajectory with the smallest number of inflection points, selects the travel trajectory with the smallest distance from the travel trajectories with the smallest number of inflection points as the travel trajectory finally determined by the logistics van.
The first embodiment is as follows:
the map information of the delivery area in charge of the logistics loading vehicle is imported by the map import unit, the plane rectangular coordinate system is established on the map information by the coordinate system establishment unit, the delivery stations in charge of the logistics loading vehicle are marked on the map information by the station marking unit, and each delivery station on the map information is endowed with coordinate values by the coordinate value endowing unit
Set of coordinate values constituting delivery station
；
The area division unit takes each delivery station as a circleA center, a circular region of radius R is established, and the boundary of the circular region forms a function of
Wherein, in the step (A),
an abscissa value representing the ith delivery station in a rectangular plane coordinate system,
expressing a longitudinal coordinate value of the ith delivery station in a plane rectangular coordinate system;
the circular boundary is formed as a function of
Using sets of functions
The circular area is divided into four equally divided sector areas.
The method comprises the steps that destination information of bulk goods on a logistics loading vehicle is obtained through an information obtaining unit, the obtained destination information is gathered through an information gathering unit, all places with destinations being county-level cities are unified into the prefecture-level cities to which the county-level cities belong, delivery sites through which the logistics loading vehicle needs to deliver the bulk goods are determined through a site determining unit according to the destination information gathered through the information gathering unit, and a coordinate value set of the delivery sites is formed
，
Coordinate values of a station where the delivery start point is located;
the number of the logistics loading vehicle driving tracks planned by the track planning unit is
；
The track analysis unit respectively calculates the distances of 120 driving tracks to form a set of driving track distances
Extracting the first 10 percent of the track distances in the sequence from small to large from the set S by using a track analysis unit;
analyzing the extracted track distance by using a track analysis unit;
analyzing the end point of the travel track of the logistics loading vehicle according to the following steps:
s401, establishing a vector between one delivery station and two adjacent delivery stations in the driving track:
wherein k represents the kth delivery station in a certain driving track, k +1 represents the kth driving station in a certain driving track, k-1 represents the kth driving station in a certain driving track,
representing a vector directed by the kth delivery site to the (k + 1) th delivery site,
representing a vector directed by the kth delivery site to the kth-1 delivery site;
s402, solving
And
angle therebetween
：
S403, aligning included angles
Judging the size of the sample:
when in use
When the angle between the kth delivery station and the (k + 1) th delivery station and the angle between the kth delivery station and the (k-1) th delivery station are smaller than a set threshold value, and the kth delivery station is used as an inflection point on the traveling track of the logistics loading vehicle;
when the temperature is higher than the set temperature
If the included angle between the kth delivery site and the kth +1 delivery site and the included angle between the kth delivery site and the kth-1 delivery site is larger than or equal to a set threshold value, the kth delivery site is not taken as an inflection point on the driving track of the logistics loading vehicle, and k represents the number of sector areas;
setting an inflection point on the driving track as an end point of the driving track by using an end point determining unit, setting a driving route before the end point as a starting route, and setting a driving route after the end point as a returning route;
s404, forming a set of inflection point numbers on the driving track
。
And selecting the running track with the number of inflection points of 1 from the set U by utilizing a track determining unit as the finally determined running track of the logistics loading vehicle.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. A method for planning and controlling a traveling track of a logistics bulk cargo loading vehicle is characterized by comprising the following steps: the driving track planning control method comprises the following steps:
s1, map information of a delivery area in charge of a logistics loading vehicle is led in by using a map leading-in unit, and a driving track planning model is built on the map information by using a model processing module;
s2, acquiring related information of bulk goods on the logistics loading vehicle by using an information acquisition unit, and processing the acquired related information by using an information processing module;
s3, planning a possible running track of the bulk goods on the logistics loading vehicle in the delivery process by using a track planning unit;
s4, analyzing the plurality of driving tracks planned by the track planning unit by using the planning analysis unit and the terminal point determination unit;
s5, finally determining the running track of the logistics loading vehicle by utilizing the track determining unit according to the analysis results of the track analyzing unit and the end point determining unit;
in S1, map information of a delivery area in charge of the logistics loading vehicle is imported by a map importing unit, a rectangular plane coordinate system is established on the map information by a coordinate system establishing unit, delivery stations in charge of the logistics loading vehicle are marked on the map information by a station marking unit, and each delivery station on the map information is endowed with coordinate values by a coordinate value endowing unit
To form a delivery stationSet of coordinate values of points
Wherein n represents that the logistics loading vehicle is responsible for n delivery stations in the delivery area;
the region dividing unit establishes a circular region with the radius of R by taking each delivery station as the center of a circle, and the function formed by the boundary of the circular region is
Wherein, in the step (A),
an abscissa value representing the ith delivery station in a rectangular plane coordinate system,
a longitudinal coordinate value of the ith delivery station in a plane rectangular coordinate system is represented;
by using
Dividing the circular area into at least four equally divided sector areas, wherein a represents the slope of the function, and b represents the longitudinal coordinate value of the intersection point between the function and the Y axis of the plane rectangular coordinate system;
in S2, the information acquisition unit is used for acquiring destination information of bulk cargos on the logistics loading vehicle, the information aggregation unit is used for aggregating the acquired destination information, the grade of the destination information is unified, the site determination unit is used for determining delivery sites through which the logistics loading vehicle needs to deliver the bulk cargos according to the destination information aggregated by the information aggregation unit, and a coordinate value set forming the delivery sites
M < n, wherein m represents that the logistics loading vehicle needs to pass through m delivery stations,
coordinate values of a station where the delivery start point is located;
in S3-S4, the number of the logistics loading vehicle driving tracks planned by the track planning unit is
Wherein, in the process,
represents a factorial of m-1;
the track analysis units are respectively paired
The distance of each driving track is calculated to form a set of driving track distances
Extracting the first Z percent of the track distances in the sequence from small to large from the set S by using a track analysis unit;
analyzing the extracted track distance by using a track analysis unit;
analyzing the end point of the driving track of the logistics loading vehicle according to the following steps:
s401, establishing a vector between one delivery station and two adjacent delivery stations in the driving track:
wherein k represents the kth delivery station in a certain driving track, k +1 represents the kth driving station in a certain driving track, k-1 represents the kth driving station in a certain driving track,
representing a vector directed by the kth delivery site to the (k + 1) th delivery site,
representing a vector directed by the kth delivery site to the kth-1 delivery site;
s402, solving
And
angle therebetween
：
S403, aligning included angles
Judging the size of the sample:
when in use
When the current position is within the preset range, indicating that an included angle between the kth delivery station and the kth +1 delivery station and an included angle between the kth delivery station and the kth-1 delivery station are smaller than a set threshold value, and taking the kth delivery station as an inflection point on a driving track of the logistics loading vehicle;
when the temperature is higher than the set temperature
If so, indicating that an included angle between the kth delivery site and the k +1 th delivery site and an included angle between the kth delivery site and the k-1 th delivery site are larger than or equal to a set threshold value, not taking the kth delivery site as an inflection point on a driving track of the logistics loading vehicle, and indicating the number of the sector-shaped areas by k;
setting an inflection point on the driving track as an end point of the driving track by using an end point determining unit, setting a driving route before the end point as a starting route, and setting a driving route after the end point as a returning route;
s404, forming a set of inflection point numbers on the driving track
(ii) a Where c represents a total of c travel trajectories.
2. The method for planning and controlling the travel track of the logistics bulk cargo loader according to claim 1, wherein the method comprises the following steps: in S5, the trajectory determination unit selects the travel trajectory with the smallest number of inflection points from the set U as the travel trajectory finally determined by the logistics van, and if there is more than one travel trajectory with the smallest number of inflection points, selects the travel trajectory with the smallest distance from the travel trajectories with the smallest number of inflection points as the travel trajectory finally determined by the logistics van.
3. A logistics bulk cargo loader travel track planning control system for implementing the logistics bulk cargo loader travel track planning control method of claim 1, characterized by: the driving track planning control system comprises a data acquisition module, a model processing module, an information processing module and a track analysis module;
the system comprises a data acquisition module, a model processing module, an information processing module and a track analysis module, wherein the data acquisition module is used for acquiring various information data required in the process of planning and controlling the driving track of the logistics loading vehicle;
the output end of the data acquisition module is connected with the input ends of the model processing module and the information processing module, the output end of the model processing module is connected with the input end of the information processing module, and the output end of the information processing module is connected with the input end of the trajectory analysis module.
4. The logistics bulk cargo loader trajectory planning control system of claim 3, wherein: the data acquisition module comprises a map importing unit and an information acquisition unit;
the map importing unit is used for importing map information of a delivery area in charge of the logistics loading vehicle; the information acquisition unit is used for acquiring related information of bulk goods on the logistics loading vehicle;
the output end of the map importing unit is connected with the input end of the model processing module, and the output end of the information acquiring unit is connected with the input end of the information processing module.
5. The logistics bulk cargo loader trajectory planning control system of claim 4, wherein: the model processing module comprises a coordinate system establishing unit, a site marking unit, a coordinate value giving unit and an area dividing unit;
the coordinate system establishing unit is used for establishing a plane rectangular coordinate system by taking any point as an origin on the imported map information; the site marking unit is used for marking the delivery sites responsible for the logistics loading vehicle on the imported map information; the coordinate value giving unit is used for giving a coordinate value to each delivery site marked on the map information; the area dividing unit is used for establishing a circular area by taking the delivery station as the center of a circle, and dividing the circular area into at least four equally divided fan-shaped areas, wherein the fan-shaped areas are used for determining the arrival direction of the logistics loading vehicle at the delivery station;
the output end of the map importing unit is connected with the input end of the coordinate system establishing unit, the output end of the coordinate system establishing unit is connected with the input end of the site marking unit, the output end of the site marking unit is connected with the input end of the coordinate value giving unit, and the output end of the coordinate value giving unit is connected with the input end of the area dividing unit.
6. The logistics bulk cargo loader trajectory planning control system of claim 5, wherein: the information processing module comprises an information gathering unit and a site determining unit;
the information gathering unit is used for carrying out unification processing on the information data acquired by the information acquisition unit; the station determining unit is used for determining the position of the station according to the information data converged by the information converging unit;
the output end of the information acquisition unit is connected with the input end of the information aggregation unit, the output end of the information aggregation unit is connected with the input end of the site determination unit, the output end of the area division unit is connected with the input end of the site determination unit, and the output end of the site determination unit is connected with the input end of the trajectory analysis module.
7. The logistics bulk cargo loader trajectory planning control system of claim 6, wherein: the track analysis module comprises a track planning unit, a track analysis unit, an end point determination unit and a track determination unit;
the track planning unit is used for planning the running track of the logistics loading vehicle according to the station position information determined by the station determining unit; the track analysis unit is used for analyzing the plurality of driving tracks planned by the track planning unit, and searching and judging the optimal driving track; the terminal point determining unit is used for confirming a terminal point in the driving tracks according to the plurality of driving tracks planned by the track planning unit and dividing the driving tracks into a starting route and a returning route; the track determining unit determines the final driving track of the logistics loading vehicle according to the analysis result of the planning and analyzing unit and the determination result of the end point determining unit, and performs final planning on the driving track according to the actual road condition;
the output end of the station determining unit is connected with the input end of the track planning unit, the output end of the track planning unit is connected with the input ends of the track analyzing unit and the end point determining unit, and the output ends of the track analyzing unit and the end point determining unit are connected with the input end of the track determining unit.
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