Dynamic monitoring and scheduling device and method for sewage treatment vehicles

Abstract

The invention discloses a sewage treatment vehicle dynamic monitoring and scheduling device and method. The device comprises a vehicle positioning module, a passing time prediction module, a central processor, an urban road network module and an information transmission module. The vehicle positioning module is used for monitoring longitude and latitude position information of the sewage loading and transporting vehicle and transmitting the longitude and latitude position information to the urban road network module through the information transmission module for vehicle information matching; the vehicle information comprises a vehicle ID and a vehicle position; the passing time prediction module is used for calculating predicted passing time according to the vehicle position; and the central processing unit is used for calculating cost according to the predicted passing time and then scheduling the sewage treatment vehicles according to the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic management, and in particular to a sewage treatment vehicle dynamic monitoring and dispatching device and method. Background Art

[0002] With the continuous acceleration of urbanization and the rapid increase in urban population, residents' daily sewage treatment needs are increasing. A large amount of sludge and sewage needs to be transported to sewage treatment stations by special vehicles through designated storage stations for centralized treatment. However, the required assembly volume of different sewage storage stations is different. Therefore, some vehicles have a certain degree of idling or non-full load, which reduces the vehicle travel energy efficiency. Therefore, it is necessary to carry out intelligent scheduling arrangements to improve the utilization rate of sewage treatment vehicles and achieve better social and economic efficiency.

[0003] The existing sewage treatment vehicle dispatch system is relatively old and can only carry out simple vehicle positioning and information entry queries. It is unable to conduct dynamic online vehicle monitoring, and conduct comprehensive cost-benefit analysis based on real-time road traffic operations and forecasts. Based on the cost analysis results, it can carry out dynamic dispatch and transfer of vehicles, improve vehicle energy efficiency, reduce empty load rates, and enhance the economic benefits of vehicle travel and transportation. Summary of the invention

[0004] In view of the technical problem in the prior art that sewage treatment vehicles have low utilization rate due to poor dynamic scheduling, the present invention proposes a sewage treatment vehicle dynamic monitoring and scheduling device and method.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A sewage treatment vehicle dynamic monitoring and dispatching device, comprising a vehicle positioning module, a travel time prediction module, a central processing unit, an urban road network module and an information transmission module;

[0007] The vehicle positioning module is used to monitor the latitude and longitude position information of the sewage transport vehicle, and transmit the latitude and longitude position information to the urban road network module through the information transmission module for vehicle information matching; the vehicle information includes vehicle ID and vehicle location;

[0008] The travel time prediction module is used to calculate the estimated travel time according to the vehicle position;

[0009] The central processing unit is used to calculate the cost based on the estimated travel time and then dispatch the sewage treatment vehicles according to the cost.

[0010] Preferably, the urban road network module includes a road network layer, a sewage treatment vehicle layer, a sewage treatment plant layer and a sewage storage station layer; wherein the road network layer contains the longitude and latitude coordinates of the road, road mileage, number of road lanes, predicted travel time, and road operating speed; the sewage treatment vehicle layer contains the longitude and latitude coordinates of the vehicle and the sewage treatment vehicle ID; the sewage treatment plant layer contains the longitude and latitude coordinates of the sewage treatment plant and the sewage treatment plant ID; the sewage storage station layer contains the longitude and latitude coordinates of the sewage storage station, the amount of sewage to be treated, and the sewage storage station ID.

[0011] Preferably, the sewage transport vehicle includes a vehicle body, a hydraulic lifting system, a water adding system, a sewage receiving and releasing system, a water tank assembly, an electrical control system, and a carriage;

[0012] Among them, the hydraulic lifting system is used to lift and lower the sewage collection and release system; the water adding system is used to provide water to the sewage transport vehicle; the sewage collection and release system is responsible for sewage collection; the water tank assembly is responsible for storing sewage and sludge; the electrical control system is responsible for controlling the operation and operation of the sewage transport vehicle; and the carriage is responsible for loading the water tank assembly.

[0013] Preferably, it also includes a voice prompt module; the voice prompt module is installed at the driving platform of the sewage transport vehicle.

[0014] Preferably, it also includes a video display module for displaying data information of sewage treatment vehicles in the urban road network module in real time, sewage treatment vehicles in transfer are displayed in red, and other sewage treatment vehicles are displayed in green.

[0015] The present invention also provides a method for dynamic monitoring and dispatching of sewage treatment vehicles, which specifically comprises the following steps:

[0016] S1: Transmit the latitude and longitude location information of sewage treatment vehicle a to the urban road network module, and count all road section sets L a =[l a1 ,l a2 ,...,la n ],l an represents the length of the nth road section of sewage treatment vehicle a;

[0017] S2: Calculate the road speed V of each road section based on real-time floating vehicle data a =v a1 ,v a2 ,...,v an ],v an represents the road running speed of the nth road section of the floating vehicle at time T = t;

[0018] S3: Calculate the estimated travel time T for each road section based on the road speed a=[t a1 ,t a2 ,...,t an ], t an represents the estimated travel time of the nth road section of the floating vehicle,

[0019] S4: Calculate the estimated travel time of sewage treatment vehicle a to the sewage treatment plant;

[0020] S5: Calculate the Euclidean distance between the sewage treatment vehicle a and the sewage storage station, and convert the Euclidean distance d am Arrange them in ascending order, and select the sewage treatment vehicles corresponding to the first K Euclidean distances as the candidate transfer dispatch vehicles;

[0021] S6: Calculate the total cost of each candidate transfer dispatch vehicle, and when the total cost is greater than 0, issue a transfer signal.

[0022] Preferably, in S3, if there is a road section l ai , so that Let the predicted travel time T a =[t a1 ,t a2 ,...,t an ] a =t an , that is, the predicted travel time is the floating vehicle calculation time.

[0023] Preferably, in S4, the estimated travel time of sewage treatment vehicle a to the sewage treatment plant is:

[0024]

[0025] In formula (1), T' a represents the predicted travel time of sewage treatment vehicle a, t aj represents the estimated travel time of sewage treatment vehicle a on the jth road section, and n represents the number of road sections.

[0026] Preferably, in S5, the Euclidean distance between the sewage treatment vehicle a and the sewage storage station is:

[0027]

[0028] In formula (2), d am represents the Euclidean distance between sewage loading vehicle a and the mth sewage storage station; x a 、x m They represent the longitude coordinates of the sewage loading vehicle a and the mth sewage storage station, respectively. a ,y m They represent the latitude coordinates of sewage loading vehicle a and the mth sewage storage station respectively.

[0029] Preferably, in S6, the total cost of the candidate transfer dispatch vehicle is:

[0030] H a =H ad -H az , H ad =T' a *S*E,

[0031] H az =(T' am1 +T' am2 )*S*E-(1-ε)*g (3)

[0032] In formula (3), H a represents the total cost of the ath alternative sewage transport vehicle; H ad represents the cost of the ath alternative sewage transport vehicle going directly to the sewage treatment plant without transfer; H az represents the cost of the ath alternative sewage transport vehicle to the sewage treatment plant after transfer at the sewage storage station; T' a It represents the predicted travel time of the ath candidate sewage transport vehicle from the statistical starting point to the initially selected sewage treatment plant; S is the driver's personality characteristic coefficient, and the S values ​​of fast-driving, normal-driving, and slow-driving drivers are 0.9, 1.0, and 1.1 respectively; E is the average driving cost per unit time; T' am1 is the predicted travel time from the statistical starting point to the mth sewage storage station, T' am2 is the predicted travel time from the mth sewage storage station to the initially selected sewage treatment plant; g is the economic benefit of treating each ton of sewage.

[0033] In summary, due to the adoption of the above technical solution, compared with the prior art, the present invention has at least the following beneficial effects:

[0034] When the present invention is working, the vehicle positioning module acquires the latitude and longitude geographic information of the sewage loading vehicle in real time, and transmits it to the central processing unit in real time; the central processing unit calculates whether the transfer conditions are met based on the geographic location information of the sewage loading vehicle when it is counted and its positional relationship with the sewage treatment plant through a built-in dynamic scheduling algorithm. If it is met, a transfer signal will be sent to the alternative transfer scheduling vehicle, and at this time the voice prompt module will send a transfer voice prompt.

[0035] At the same time, the urban road network module has built-in road network layers, sewage transport vehicle layers, and image information of sewage storage stations, which are displayed and queried through the video display module. It displays the sewage transport vehicle data information in the urban road network module in real time, sets transfer labels, and sewage transport vehicles in transfer are displayed in red, and other vehicles are displayed in green, which is more convenient for management personnel to query and manage. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of a sewage treatment vehicle dynamic monitoring and dispatching device according to an exemplary embodiment of the present invention.

[0037] Figure 2 Schematic diagram of a method for dynamic monitoring and scheduling of sewage treatment vehicles according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following examples, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0039] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] like Figure 1 As shown, the present invention proposes a sewage treatment vehicle dynamic monitoring and dispatching device, including a sewage treatment vehicle, a vehicle positioning module, a travel time prediction module, a central processing unit, a voice prompt module, an urban road network module, an information transmission module, and a video display module.

[0041] In this embodiment, the sewage transport vehicle includes a vehicle body, a hydraulic lifting system, a water adding system, a sewage collecting and releasing system, a water tank assembly, an electrical control system, and a carriage.

[0042] Among them, the hydraulic lifting system is used to lift and lower the sewage collection and release system; the water adding system is used to provide water to the sewage transport vehicle; the sewage collection and release system is responsible for sewage collection; the water tank assembly is responsible for storing sewage and sludge. The water tank assembly has a built-in pressure sensor, which displays the loading rate ε of the water tank assembly according to the pressure feedback value, and sends the sewage transport vehicle license plate ID, loading rate ε and other data to the central processor through the information transmission module; the electrical control system is responsible for controlling the operation and operation of the sewage transport vehicle; the carriage is responsible for loading the water tank assembly.

[0043] In this embodiment, the vehicle positioning module is installed inside the sewage treatment vehicle. The vehicle positioning module is a vehicle-mounted GPS device, including a GPS receiver and a satellite antenna; the GPS receiver is responsible for receiving satellite signals, and calculating the longitude and latitude position information of the sewage loading vehicle through the satellite signals, and sending the longitude and latitude position information to the urban road network module and the central processor through the information transmission module.

[0044] In this embodiment, the travel time prediction module has a built-in travel time prediction algorithm for calculating the predicted travel time of any sewage loading vehicle a from the starting point to the end point.

[0045] In this embodiment, the central processor is used to schedule the sewage treatment vehicles according to the predicted travel time of all sewage treatment vehicles.

[0046] In this embodiment, the voice prompt module includes a tweeter installed on the driving platform of the sewage loading vehicle; when the tweeter receives the transfer signal sent by the central processor, it will start and issue a voice prompt.

[0047] In this embodiment, the urban road network module includes a road network layer, a sewage treatment vehicle layer, a sewage treatment plant layer and a sewage storage station layer; wherein the road network layer contains the longitude and latitude coordinates of the road, road mileage, number of road lanes, predicted travel time, and road operating speed; the sewage treatment vehicle layer contains the longitude and latitude coordinates of the vehicle and the sewage treatment vehicle ID; the sewage treatment plant layer contains the longitude and latitude coordinates of the sewage treatment plant and the sewage treatment plant ID; the sewage storage station layer contains the longitude and latitude coordinates of the sewage storage station, the amount of sewage to be treated, and the sewage storage station ID.

[0048] In this embodiment, the video display module includes a display for displaying data information of sewage treatment vehicles in the urban road network module in real time, setting a transfer label, sewage treatment vehicles in transfer are displayed in red, and other vehicles (not in transfer) are displayed in green.

[0049] Based on the above-mentioned sewage treatment vehicle dynamic monitoring and dispatching device, Figure 2 As shown, the present invention also provides a method for dynamic monitoring and dispatching of sewage treatment vehicles, which specifically includes the following steps:

[0050] S1: Transmit the latitude and longitude location information of the sewage treatment vehicle a to the urban road network module, and calculate the set L of all road sections on the shortest path to the end point D at time T = t. a =[l a1 ,l a2 ,...,la n ],l an Represents the length of the nth road section of sewage treatment vehicle a.

[0051] S2: Calculate the road segment set L based on real-time floating vehicle data (such as the location information fed back by taxis equipped with GPS devices) a The road speed V in each section a =[v a1 ,v a2 ,...,v an ],v an It represents the floating road running speed of sewage treatment vehicle a on the nth road section at time T=t.

[0052] S3: Calculate the estimated travel time T of sewage treatment vehicles in each road section based on the operating speed of the floating lane road a =[t a1 ,t a2 ,...,t an ], t an It represents the estimated travel time of the floating vehicle on the nth road section, T = L / V, that is,

[0053] In this embodiment, it is assumed that there is a road section l ai , so that Let the predicted travel time T a =[t a1 ,t a2 ,...,t an ] a =t an , and enter S4.

[0054] In this embodiment, 15 minutes is the threshold. When the estimated travel time is less than 15 minutes, the road section travel time t calculated by the floating vehicle at this time is directly used. an as the predicted time; when the estimated travel time is greater than 15 minutes for a sub-section, the operating speed should use the predicted value instead of the real-time speed calculated by the floating vehicle.

[0055] S4: Calculate road segment l a(i+1) To an The predicted travel time of the i-th road section is the real travel time calculated by the floating car, and the predicted value is used starting from i+1. The LSTM neural network module in Python is called, and the output predicted travel time at time x is f(x). The input data is road section l a(i+1) T = the road speed data of the 50 previous time intervals at time t, each time interval is 3 minutes, then the road section l a(i+1) The output predicted travel time Similarly, section l a(i+2) The output predicted travel time is

[0056] The predicted travel time is calculated as:

[0057]

[0058] In formula (1), T' a represents the predicted travel time of sewage treatment vehicle a, t aj represents the estimated travel time of sewage treatment vehicle a on the jth road section, and n represents the number of road sections.

[0059] S5: Collect the sewage from each storage station W = [w1, w2, ..., w m ]’s latitude and longitude coordinate information, w m Represents the mth sewage storage station, matches it to the urban road network module, and calculates the Euclidean distance d between the ath vehicle and the sewage storage station among all the sewage treatment vehicles A(1,2,...a,...K) on the way am , K is the total number of sewage transport vehicles in transit:

[0060]

[0061] In formula (2), d am represents the Euclidean distance between sewage loading vehicle a and the mth sewage storage station; x a 、x m They represent the longitude coordinates of the sewage loading vehicle a and the mth sewage storage station, respectively. a ,y m They represent the latitude coordinates of sewage loading vehicle a and the mth sewage storage station respectively.

[0062] In this embodiment, the Euclidean distance d am Arrange them in ascending order, and select the sewage treatment vehicles corresponding to the first K Euclidean distances as the alternative transfer and dispatch vehicles.

[0063] In this embodiment, the loading rate of the candidate transfer dispatch vehicle ε<0.8; if ε≥0.8, it will be postponed in sequence.

[0064] S6: Calculate the total cost of each alternative transfer dispatch vehicle; when the total cost is greater than 0, a transfer signal will be sent to the a-th alternative transfer dispatch vehicle; when the total cost is less than or equal to 0, no transfer signal will be sent to the a-th alternative transfer dispatch vehicle.

[0065] H a =H ad -H az , H ad =T' a *S*E,

[0066] H az =(T' am1 +T'am2 )*S*E-(1-ε)*g (3)

[0067] In formula (3), H a represents the total cost of the ath alternative sewage transport vehicle; H ad represents the cost of the ath alternative sewage transport vehicle going directly to the initially selected sewage treatment plant without transfer; H az represents the cost of the ath alternative sewage transport vehicle to the initially selected sewage treatment plant after transfer at the sewage storage station; T' a It represents the predicted travel time of the ath candidate sewage transport vehicle from the statistical starting point to the initially selected sewage treatment plant; S is the driver's personality characteristic coefficient, and the S values ​​of fast-driving, normal-driving, and slow-driving drivers are 0.9, 1.0, and 1.1 respectively; E is the average driving cost per unit time (yuan / minute); T' am1 is the predicted travel time from the statistical starting point to the mth sewage storage station, which can be calculated according to formula (1); T' am2 is the predicted travel time from the mth sewage storage station to the initially selected sewage treatment plant, which can be calculated according to formula (1); g is the economic benefit of treating each ton of sewage (yuan / ton).

[0068] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A sewage treatment vehicle dynamic monitoring and dispatching device, characterized in that: It includes vehicle positioning module, travel time prediction module, central processing unit, urban road network module and information transmission module; The vehicle positioning module is used to monitor the latitude and longitude position information of the sewage transport vehicle, and transmit the latitude and longitude position information to the urban road network module through the information transmission module for vehicle information matching; the vehicle information includes vehicle ID and vehicle location; The travel time prediction module is used to calculate the estimated travel time according to the vehicle position; The central processing unit is used to calculate the cost based on the estimated travel time and then dispatch the sewage treatment vehicles according to the cost.

2. A sewage treatment vehicle dynamic monitoring and dispatching device as claimed in claim 1, characterized in that: The urban road network module includes a road network layer, a sewage treatment vehicle layer, a sewage treatment plant layer and a sewage storage station layer; wherein the road network layer contains the longitude and latitude coordinates of the road, road mileage, number of road lanes, predicted travel time, and road operating speed; the sewage treatment vehicle layer contains the longitude and latitude coordinates of the vehicle and the sewage treatment vehicle ID; the sewage treatment plant layer contains the longitude and latitude coordinates of the sewage treatment plant and the sewage treatment plant ID; the sewage storage station layer contains the longitude and latitude coordinates of the sewage storage station, the amount of sewage to be treated, and the sewage storage station ID.

3. A sewage treatment vehicle dynamic monitoring and dispatching device as claimed in claim 1, characterized in that: The sewage transport vehicle includes a vehicle body, a hydraulic lifting system, a water supply system, a sewage receiving and releasing system, a water tank assembly, an electrical control system, and a carriage; Among them, the hydraulic lifting system is used to lift and lower the sewage collection and release system; the water adding system is used to provide water to the sewage transport vehicle; the sewage collection and release system is responsible for sewage collection; the water tank assembly is responsible for storing sewage and sludge; the electrical control system is responsible for controlling the operation and operation of the sewage transport vehicle; and the carriage is responsible for loading the water tank assembly.

4. A sewage treatment vehicle dynamic monitoring and dispatching device as claimed in claim 1, characterized in that: It also includes a voice prompt module; the voice prompt module is installed on the driving platform of the sewage transport vehicle.

5. A sewage treatment vehicle dynamic monitoring and dispatching device as claimed in claim 1, characterized in that: It also includes a video display module for displaying data information of sewage treatment vehicles in the urban road network module in real time. Sewage treatment vehicles in transfer are displayed in red, and other sewage treatment vehicles are displayed in green.

6. A method for dynamic monitoring and dispatching of sewage treatment vehicles based on the device according to any one of claims 1 to 5, characterized in that: The specific steps include: S1: Transmit the latitude and longitude location information of sewage treatment vehicle a to the urban road network module, and count all road section sets L a =[l a1 , l a2 ,...,la n ],l an represents the length of the nth road section of sewage treatment vehicle a; S2: Calculate the road speed V of each road section based on real-time floating vehicle data a =[v a1 , v a2 , ..., v an ],v an represents the road running speed of the nth road section of the floating vehicle at time T = t; S3: Calculate the estimated travel time T for each road section based on the road speed a =[t a1 , t a2 , ..., t an ], t an represents the estimated travel time of the nth road section of the floating vehicle, S4: Calculate the estimated travel time of sewage treatment vehicle a to the sewage treatment plant; S5: Calculate the Euclidean distance between the sewage treatment vehicle a and the sewage storage station, and convert the Euclidean distance d am Arrange them in ascending order, and select the sewage treatment vehicles corresponding to the first K Euclidean distances as the candidate transfer dispatch vehicles; S6: Calculate the total cost of each candidate transfer dispatch vehicle, and when the total cost is greater than 0, issue a transfer signal.

7. A method for dynamic monitoring and dispatching of sewage treatment vehicles as claimed in claim 6, characterized in that: In S3, if there is a road section l ai , so that Let the predicted travel time T a =[t a1 , t a2 , ..., t an ] a =t an , that is, the predicted travel time is the floating vehicle calculation time.

8. A method for dynamic monitoring and dispatching of sewage treatment vehicles as claimed in claim 6, characterized in that: In S4, the estimated travel time of sewage treatment vehicle a to the sewage treatment plant is: In formula (1), T' a represents the predicted travel time of sewage treatment vehicle a, t aj represents the estimated travel time of sewage treatment vehicle a on the jth road section, and n represents the number of road sections.

9. A method for dynamic monitoring and dispatching of sewage treatment vehicles as claimed in claim 6, characterized in that: In S5, the Euclidean distance between the sewage treatment vehicle a and the sewage storage station is: In formula (2), d am represents the Euclidean distance between sewage loading vehicle a and the mth sewage storage station; x a 、x m They represent the longitude coordinates of the sewage loading vehicle a and the mth sewage storage station, respectively. a ,y m They represent the latitude coordinates of sewage loading vehicle a and the mth sewage storage station respectively.

10. A method for dynamic monitoring and dispatching of sewage treatment vehicles according to claim 6, characterized in that: In S6, the total cost of the alternative transfer dispatch vehicle is: H a =H ad -H az ,H ad =T’ a *S*E, H az =(T’ am1 +T’ am2 )*S*E-(1-ε)*g (3) In formula (3), H a represents the total cost of the ath alternative sewage transport vehicle; H ad represents the cost of the ath alternative sewage transport vehicle going directly to the sewage treatment plant without transfer; H az represents the cost of the ath alternative sewage transport vehicle to the sewage treatment plant after transfer at the sewage storage station; T' a It represents the predicted travel time of the ath candidate sewage transport vehicle from the statistical starting point to the initially selected sewage treatment plant; S is the driver's personality coefficient, and the S values ​​of fast-driving, normal-driving, and slow-driving drivers are 0.9, 1.0, and 1.1, respectively; E is the average driving cost per unit time; T' am1 is the predicted travel time from the statistical starting point to the mth sewage storage station, T' am2 is the predicted travel time from the mth sewage storage station to the initially selected sewage treatment plant; g is the economic benefit of treating each ton of sewage.

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