CN115271398A - Airport air-side unmanned luggage trailer scheduling algorithm - Google Patents

Airport air-side unmanned luggage trailer scheduling algorithm Download PDF

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CN115271398A
CN115271398A CN202210841770.3A CN202210841770A CN115271398A CN 115271398 A CN115271398 A CN 115271398A CN 202210841770 A CN202210841770 A CN 202210841770A CN 115271398 A CN115271398 A CN 115271398A
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path
trailer
luggage
airport
map
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王巍
张雪娟
宋海瑞
熊帆
李小将
赵剑锋
阮博
梁勇明
陆远斌
潘岚川
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Civil Aviation Airport Chengdu Electronic Engineering Design Co ltd
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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
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Abstract

The invention relates to the technical field of unmanned dispatching, in particular to an airport air-side unmanned luggage trailer dispatching algorithm, which comprises the following steps: the dispatching platform calculates the running distance and time of the luggage trailer reaching the loading point according to the flight information and the map information to obtain a dispatching instruction, and sends the dispatching instruction to the luggage trailer; the luggage tug fleet drives to a loading point according to a scheduling instruction; the method comprises the steps of acquiring vehicle data and map data in real time in the driving process, and sending the vehicle data and the map data to a scheduling platform; the dispatch platform determines event information from the vehicle data and the map data, determines a new planned path based on the event information, and sends the new planned path to the baggage trailer. According to the invention, the vehicle-road cooperation V2X technology, the data communication technology, the path planning technology and the like can be used for re-planning the path after an event occurs, unmanned path guidance is realized, the luggage collecting and distributing efficiency and capability are improved, and the effects of reducing risks, reducing cost, saving energy and reducing emission can be realized.

Description

Airport air-side unmanned luggage trailer scheduling algorithm
Technical Field
The invention relates to the technical field of unmanned dispatching, in particular to an airport empty-side unmanned luggage trailer dispatching algorithm.
Background
With the rapid development of civil aviation industry in China, the number of people taking airplanes to go out and the transportation volume of aviation logistics are continuously increased; the foreseeable cases associated therewith are: the increasing pressure of transportation in airports such as airport airside baggage and cargo has increased the demand for speed, efficiency, safety, etc. of handling baggage/cargo at airports. However, for the current operation flow, most of the operation methods related to the transportation and dispatching of baggage and goods at the air side of a civil airport need to be completed by manually driving a baggage trailer/a discharge truck.
The current baggage transportation process at the airport air side is as follows: the general dispatching desk issues information that the aircraft lands and the vehicles need to arrive at a loading point to a driver of the luggage trailer, the vehicles arrive at the aircraft stop in advance according to the information to load luggage, then pay attention to the luggage transportation according to different positions of the luggage unloading position (due to the situations such as transit flights, international flights and the like, the luggage transportation needs to be carried to other stop positions), and when the luggage trailer completely unloads the luggage, the general dispatching desk returns to the appointed vehicle stop position to wait for the next instruction.
For the current processing method and flow, there are several problems to be solved:
(1) The artificial driver cannot make danger prediction and evasion in time under some climatic conditions (for example, sight line is blocked in rainy and snowy days, the visual field of people is limited, etc.);
(2) The luggage trailers widely used at present are constituted by a luggage trailer driven by a driver and a luggage trailer/pallet trailer towed behind it by a hitch. Under the condition that the number of drivers on the air side of an airport is fixed, if the number of the drivers is too much or a large amount of luggage needs to be processed in an emergency, the number of trailers/push trays following a guided vehicle is inevitably increased, so that the overall length of the vehicle is increased, and a certain danger coefficient is provided for the situations of emergency, turning or avoiding risks in time and the like;
(3) The luggage trailers need to arrive at the stopping position in advance, and each luggage trailer needs to load and transport a large amount of luggage and can return to the stopping position to wait for the next instruction after delivering the luggage one by one according to the unloading points; due to the limitation of the vehicle design form of the luggage trailer, the luggage can be only operated at a certain unloading point, and the efficiency is low because the luggage is not finely classified according to different delivery areas and different area paths.
There is therefore a need for an airport empty-side unmanned baggage trailer dispatch algorithm that is low risk, efficient, and capable of fast dynamic planning of a transportation path after an incident is encountered.
Disclosure of Invention
Based on the problems, the invention provides an airport empty-side unmanned luggage trailer dispatching algorithm. According to the invention, by using the vehicle-road cooperative V2X system, data communication, path planning and other technologies, path re-planning can be realized after an event is met, and an unmanned path guiding function is realized, so that the luggage collecting and distributing efficiency and capability are improved, and the effects of reducing risks, reducing cost, saving energy and reducing emission can be realized.
The embodiment of the invention is realized by the following technical scheme: an airport empty-side unmanned luggage trailer dispatching algorithm comprises the following steps:
the dispatching platform calculates the running distance and time of the luggage trailer reaching the loading point according to the flight information and the map information to obtain a dispatching instruction, and sends the dispatching instruction to the luggage trailer;
the method comprises the following steps that a luggage hauling team is driven to a loading point according to a scheduling instruction, and the luggage hauling team is composed of luggage haulers with the same or similar periodic paths;
the method comprises the following steps that a luggage trailer team obtains vehicle data and map data in real time in the driving process and sends the vehicle data and the map data to a dispatching platform;
and the dispatching platform determines event information according to the vehicle data and the map data, determines a new planned path based on the event information, and sends the new planned path to the luggage trailer.
According to a preferred embodiment, the method further comprises:
and judging whether the path is finished or not, if the path of a certain luggage trailer is finished, returning to wait for the next instruction according to the original path by departing from the fleet, and if a new instruction is received in the process of returning, driving according to the new planned path.
According to a preferred embodiment, the luggage trailer is provided with an OBU, and the OBU and the dispatching platform are directly connected through vehicle-road cooperative V2X communication.
According to a preferred embodiment, the scheduling instructions include a baggage trailer ID, a number of baggage trailers, and an optimal path.
According to a preferred embodiment, the method further comprises: and writing the operation rules of the vehicles in the airport empty side range, the priorities among the vehicles and the events and the avoidance rules into the decision judgment rules, setting the priority for the calculated shortest path by taking the decision judgment rules as a weight, and optimizing the shortest path to obtain the optimal path.
According to a preferred embodiment, the shortest path is obtained by:
dividing maps in the airport empty side fields into map blocks with equal size according to the longitude and the latitude, calculating the optimal path between adjacent points in each map block, wherein the adjacent points represent the intersection points between the map blocks, selecting each map block from the starting point of the luggage trailer to the unloading point, and connecting the optimal paths in each map block to form the shortest path.
According to a preferred embodiment, the method further comprises:
continuously confirming whether the luggage trailer passes through an adjacent point in the path planning or not in the driving process, and if the luggage trailer passes through the adjacent point in the path planning, successfully guiding the path;
otherwise, the path guidance fails.
According to a preferred embodiment, the method further comprises:
when the luggage trailer is parked, matching the parking position returned by the OBU with the parking position planned by the path, and if the returned parking position is matched with the parking position planned by the path, successfully guiding the path;
otherwise, the path guidance fails.
The technical scheme of the embodiment of the invention at least has the following advantages and beneficial effects: (1) Vehicle data and map data are obtained through the luggage trailer OBU, and dynamic inspection detection of events and dynamic planning of paths are achieved on the basis of the vehicle data and the map data;
(2) Aiming at the same task, the number of the luggage trailers is increased to form a fleet, so that the number of trays of each luggage trailer is reduced, the problem that the danger coefficient of emergency situations, turning or timely avoiding risks and other situations is high due to the fact that the overall length of the vehicle is too large is solved, the collecting and distributing efficiency and capacity of the luggage on the air side of the airport are improved, manpower and transportation cost are reduced, and energy conservation and emission reduction are achieved.
(3) By combining the vehicle and road in cooperation with the V2X system, the driving track and the driving information of the luggage trailer on the map can be accurately acquired, the running path of the luggage trailer is monitored and controlled in real time, and therefore the unmanned intelligent scheduling function is achieved.
Drawings
Fig. 1 is a schematic flow chart of an airport empty-side unmanned baggage trailer dispatching algorithm provided in embodiment 1 of the present invention;
fig. 2 is a flowchart illustrating the operation of the unmanned baggage trailer according to embodiment 1 of the present invention;
fig. 3 is a flow chart of path guidance of the intelligent scheduling algorithm provided in embodiment 1 of the present invention;
fig. 4 is an example of the travel of the luggage trailer provided in embodiment 1 of the present invention in a map block;
fig. 5 is an example of the luggage trailer provided in embodiment 1 of the present invention traveling straight in a map block;
fig. 6 is an example of a luggage trailer according to embodiment 1 of the present invention traveling in a curve within a map block.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
It should be understood that "system", "device", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not to be taken in a singular sense, but rather are to be construed to include a plural sense unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Example 1
According to known statistical data, human causes account for a large proportion of the many causes of accidents on the air side of airports. Since airports are required to carry a large amount of luggage and cargo daily, up to now it has been necessary to perform work by manually driving luggage trailers/trucks. However, in some cases, manual driving inevitably encounters some problems, such as under some adverse weather conditions, the vehicle driver may not be able to predict and avoid danger due to the limited field of vision, the inability to concentrate attention, and the like; because the number of drivers is fixed, when the amount of some luggage/goods increases, the number of pallets of the luggage trailer needs to be increased, and the airport has certain requirements on the efficiency of the luggage trailer: the operations of loading and unloading goods at the parking position of the airplane have strict time limitation, and the overlong vehicle body is not beneficial to driving in some environments and reduces the operation efficiency.
Aiming at the problems, the core is how to improve the collecting and distributing efficiency and capacity of the luggage and the goods at the air side of the airport, reduce the manpower and the transportation cost and realize energy conservation and emission reduction. Therefore, an embodiment of the present invention provides an airport empty-side unmanned baggage trailer dispatching algorithm, which is shown in fig. 1 and 2, and comprises the following steps:
the method comprises the steps that a scheduling platform calculates the running distance and time of a luggage trailer to a loading point according to flight information and map information to obtain a scheduling instruction, and the scheduling instruction is sent to the luggage trailer and comprises the ID of the luggage trailer, the number of the luggage trailers and an optimal path; the luggage hauling fleet is driven to a loading point according to a dispatching instruction, and consists of luggage haulers with the same or similar periodic paths; if an event occurs in the operation process, the dispatching platform plans a new path in real time and sends the new path to the luggage trailer; the luggage trailer fleet reaches a loading point according to the path plan, and loads the tray to the corresponding luggage trailer according to different unloading points of the luggage; starting from a loading point after the luggage dragging fleet is loaded, and respectively driving to a next arrival point according to a planned path, wherein the next arrival point is an unloading point or a loading point; if an event occurs in the operation process, the dispatching platform plans a new path in real time and sends the new path to the luggage trailer; and after each luggage trailer reaches the next arrival point, if the planned path is not completed, continuing to drive according to the planned path, if the path of a certain luggage trailer is completed, separating from the fleet and returning to wait for the next instruction according to the original path, and if a new instruction is received on the way of returning, driving according to the new planned path.
In some embodiments, the baggage drayage acquires vehicle data and map data in real time during travel and transmits the vehicle data and map data to a dispatch platform; and the dispatching platform determines event information according to the vehicle data and the map data, determines a new planned path based on the event information, and sends the new planned path to the luggage trailer.
It should be understood that the above examples are by way of example only and should not be construed as limiting the present solution. The technical solutions disclosed in the present specification are explained below by the description of the drawings and tables.
Fig. 4 is a schematic view of a luggage trailer driving scenario according to some embodiments herein. As shown in fig. 4, in the embodiment of the present invention, the whole baggage trailer operation area, that is, the map in the airport airspace is labeled as map points through the GPS positioning system, the GPS positioning system can perform multidimensional positioning on the travel path of the baggage trailer, and besides the GPS positioning system, the chinese beidou positioning system GLONASS system and the european galileo system can be adopted.
In some embodiments, the luggage trailer is equipped with an OBU to send and obtain operation data and other related data of the luggage trailer, and information between the OBU and the dispatching platform can be sent and received instantly, in a preferred embodiment of this embodiment, the OBU and the dispatching platform are directly connected through vehicle-road cooperative V2X communication. It can be understood that the algorithm acquires various data through the OBU loaded on the luggage trailer, and detects and controls the vehicle running path by combining the vehicle road and the V2X system, so that the unmanned intelligent scheduling function is realized.
Furthermore, the map in the airport air side is divided into map blocks as minimum units according to the longitude and latitude, and the equal size of each minimum unit map block and the length of the horizontal axis and the vertical axis are relatively kept fixed. It should be understood that for the map block, only three points need to be fixed, and the longitude and latitude of the fourth point can be calculated as the safe coordinate axis range for the luggage trailer to run.
Because no unmanned special lane line is set on the air side of the airport, although the running path of the unmanned special lane line is mostly straight, the luggage trailer cannot turn in the whole running process in the airport, when the dispatching platform receives the airplane parking message, the planning path is generated and sent to the luggage trailer, for the real running path of the luggage trailer, the real running path can be divided into two situations, one is that the luggage trailer only needs to run along the map point in the running path in a straight line, and the other is that the luggage trailer runs in a curve.
As shown in fig. 5, when the planned path is a straight path portion, the baggage trailer only needs to travel straight along the map point, and if the baggage trailer passes through a point outside the path due to the influence of events such as weather or special decisions, the dispatch platform is triggered to remind, so as to monitor or modify the path in real time.
When the planned path is a curved path section, in each minimum unit, only the longitude and latitude of a fourth point are calculated through three fixed map points to serve as the safe coordinate axis range for the luggage trailer to run, then the adjacent point of each minimum unit is calculated according to adjacent map blocks, and the vehicle runs according to the planned path, namely continuously passes through the adjacent point. Referring to fig. 6, the travel track of the luggage trailer may be the direction indicated by the solid line arrow or the direction indicated by the dashed line arrow, and the final total path lengths in the two cases are the same, and it can be inferred from the above that the continuously passing adjacent point is adjacent to the last passing adjacent point, that is, the optimal path, therefore, in an implementation manner of the embodiment of the present invention, the manner of determining the shortest path is specifically: and calculating the optimal path between adjacent points in each map block, wherein the adjacent points represent intersection points between the map blocks, selecting each map block from the starting point of the luggage trailer to the unloading point, and connecting the optimal paths in each map block to form the shortest path.
Fig. 3 is a flow chart of path guidance of the intelligent scheduling algorithm according to the embodiment of the present invention. As shown in fig. 3, the process may include:
drawing all paths according to the plurality of loading point IDs and the number of luggage trailers; calculating all path lengths, sequencing according to the lengths, and recording corresponding node information; continuously recording the passing road nodes in the operation process of the luggage trailer and matching with the nodes in the path planning; the baggage trailer identifies the parking position and feeds back the information after comparing it with the parking position in the path plan.
In some embodiments, continuously recording road nodes traversed during operation of the baggage trailer and matching the nodes to the path plan includes: continuously confirming whether the luggage trailer passes through an adjacent point in the path planning or not in the driving process, and if the luggage trailer passes through the adjacent point in the path planning, successfully guiding the path; otherwise, the path guidance fails.
In some embodiments, the baggage trailer confirming the parking location and comparing the parking location to the path plan with the feedback comprises: when the luggage trailer is parked, matching the parking position returned by the OBU with the parking position planned by the path, and if the returned parking position is matched with the parking position planned by the path, successfully guiding the path; otherwise, the path guidance fails.
Further, in order to realize the operation of the unmanned technology in the rules, in some embodiments, the operation rules of the vehicles in the airport air side range, the priorities between the vehicles and the events, and the avoidance rules are written into the decision-making judgment rules, the priority is set for the calculated shortest path by taking the decision-making judgment rules as the weight, and the shortest path is optimized to obtain the optimal path.
In some embodiments, to achieve a detailed classification of the baggage arrival areas and the differences in area paths, the baggage, when loaded onto the aircraft, is placed in zones with different unloading points, and the dispatch platform may receive this information in order to plan the number of baggage trailers and plan the corresponding paths.
The beneficial effects that the embodiment of the invention may bring include but are not limited to: (1) Vehicle data and map data are obtained through the luggage trailer OBU, and dynamic inspection detection of events and dynamic planning of paths are achieved on the basis of the vehicle data and the map data;
(2) Aiming at the same task, the number of the luggage trailers is increased to form a fleet, so that the number of trays of each luggage trailer is reduced, the problem of high danger coefficients of emergency situations, turning or timely avoiding risks and other situations caused by the fact that the overall length of the vehicle is too large is avoided, the collecting and distributing efficiency and capacity of the luggage on the air side of the airport are improved, manpower and transportation cost are reduced, and energy conservation and emission reduction are realized.
(3) By combining the vehicle and road in cooperation with the V2X system, the running track and running information of the luggage trailer on a map can be accurately acquired, so that the running path of the luggage trailer can be monitored and controlled in real time, and the unmanned intelligent scheduling function is realized.
Moreover, those skilled in the art will appreciate that aspects of the present description may be illustrated and described in terms of several patentable categories or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful modification thereof. Accordingly, aspects of this description may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present description may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.
The computer storage medium may comprise a propagated data signal with the computer program code embodied therewith, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer storage medium may be any computer-readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer storage medium may be propagated over any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or any combination of the preceding.
Computer program code required for the operation of various portions of this specification may be written in any one or more of a variety of programming languages, including an object oriented programming language such as Java, scala, smalltalk, eiffel, JADE, emerald, C + +, C #, VB.NET, python, and the like, a conventional programming language such as C, visual Basic, fortran 2003, perl, COBOL 2002, PHP, ABAP, a dynamic programming language such as Python, ruby, and Groovy, or other programming languages, and the like. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any network format, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service, such as a software as a service (SaaS).
Additionally, the order in which elements and sequences are described in this specification, the use of numerical letters, or other designations are not intended to limit the order of the processes and methods described in this specification, unless explicitly stated in the claims. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the preceding description of embodiments of the present specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features are required than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single disclosed embodiment.
The present invention has been described in terms of the preferred embodiment, and it is not intended to be limited to the embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. An airport air-side unmanned luggage trailer dispatching algorithm is characterized by comprising the following steps:
the dispatching platform calculates the running distance and time of the luggage trailer reaching the loading point according to the flight information and the map information to obtain a dispatching instruction, and sends the dispatching instruction to the luggage trailer;
the luggage hauling fleet is driven to a loading point according to a dispatching instruction, and consists of luggage haulers with the same or similar periodic paths;
the method comprises the following steps that a luggage trailer team obtains vehicle data and map data in real time in the driving process and sends the vehicle data and the map data to a dispatching platform;
and the dispatching platform determines event information according to the vehicle data and the map data, determines a new planned path based on the event information, and sends the new planned path to the luggage trailer.
2. The airport empty-side unmanned baggage trailer scheduling algorithm of claim 1, wherein the method further comprises:
and judging whether the path is finished or not, if the path of a certain luggage trailer is finished, returning to wait for the next instruction according to the original path by departing from the fleet, and if a new instruction is received during returning, driving according to the new planned path.
3. The airport empty-side unmanned baggage trailer dispatch algorithm of claim 1, wherein an OBU is carried on the baggage trailer and is directly connected to the dispatch platform through vehicle-to-vehicle cooperation with V2X communication.
4. The airport unmanned baggage trailer scheduling algorithm of claim 1, wherein the scheduling instructions comprise a baggage trailer ID, a number of baggage trailers, and an optimal path.
5. The airport empty-side unmanned baggage trailer scheduling algorithm of claim 4, wherein the method further comprises: and writing the operation rules of the vehicles in the airport empty side range, the priorities among the vehicles and the events and the avoidance rules into the decision judgment rules, setting the priority for the calculated shortest path by taking the decision judgment rules as a weight, and optimizing the shortest path to obtain the optimal path.
6. The airport empty-side unmanned baggage trailer dispatch algorithm of claim 5, wherein the shortest path is obtained by:
dividing a map in an airport empty side yard into map blocks with equal size according to longitude and latitude, calculating the optimal path between adjacent points in each map block, wherein the adjacent points represent intersection points between the map blocks, selecting each map block from a luggage trailer starting point to an unloading point, and connecting the optimal paths in each map block to form the shortest path.
7. The airport empty-side unmanned baggage trailer scheduling algorithm of claim 1, wherein the method further comprises:
continuously confirming whether the luggage trailer passes through an adjacent point in the path planning or not in the driving process, and if the luggage trailer passes through the adjacent point in the path planning, successfully guiding the path;
otherwise, the path guidance fails.
8. The airport empty-side unmanned baggage trailer scheduling algorithm of claim 1, wherein the method further comprises:
when the luggage trailer is parked, matching the parking position returned by the OBU with the parking position of the path planning, and if the returned parking position is matched with the parking position of the path planning, successfully guiding the path;
otherwise, the path guidance fails.
CN202210841770.3A 2022-07-18 2022-07-18 Airport air-side unmanned luggage trailer scheduling algorithm Pending CN115271398A (en)

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