Path planning method and device for field section driving transportation

Abstract

The application provides a path planning method and device for field section driving transportation, applied to the technical field of rail transit, wherein the method comprises the following steps: in response to receiving a cargo preparation completion signal, assigning a standby train a destination to obtain the destination of the standby train, wherein the destination comprises a cargo loading point, a cargo unloading point and a cargo replacement point; based on the current position of the standby train and the destination of the standby train, generating a candidate path; traversing each path segment of the candidate path, when all path segments are conflict-free segments, locking the candidate path as a target route; according to the occupied position of the standby train and the driving speed of the standby train, triggering a route instruction according to the path segments of the target route. Through the application, the cumbersome manual setting of the route can be effectively avoided, and the automatic loading of the train is more convenient and efficient.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a method and apparatus for route planning in depot train transportation. Background Technology

[0002] The unmanned dispatching function of a typical automated depot completes train self-inspection and dispatch in advance based on the daily operation plan; and directs mainline train operation according to the daily operation plan, including train speed, station stop time, turnaround time, etc.

[0003] The fully automated operation system has very strict requirements for work plans. The daily scheduling is changed, and the daily train operation plan, including the number of trains in service and their arrival and departure times, is executed according to the daily plan. The automated depot, as a section included in the fully automated operation system, provides the basic vehicle operation foundation for mainline train operations and arrival / departure events based on the work plan.

[0004] Automated freight yard transportation mainly involves fixed rail transit freight transportation within the yard area, lacking strong binding to the daily plan; and within the freight yard, there is a lack of information such as the time of completion of goods preparation, preparation cycle, and total quantity of goods, which cannot provide planning information for unmanned automated freight transportation operations. It also lacks key information such as the number of trains required and the operating routes. Therefore, it is difficult to organize effective train route planning and conflict detection, which greatly hinders the path and timeliness of unmanned freight transportation. Summary of the Invention

[0005] This invention provides a route planning method and apparatus for depot transportation, which solves the problem of low timeliness of route planning in unmanned cargo transportation in the prior art, effectively avoids the tediousness of manually setting routes, and makes automatic cargo loading by trains more convenient and efficient.

[0006] This invention provides a route planning method for depot train transportation, comprising the following steps: In response to receiving a cargo preparation completion signal and issuing vehicle binding information, a destination is assigned to a waiting train to obtain the destination of the waiting train, wherein the destination includes: a cargo loading point, a cargo unloading point, a cargo exchange point, and a temporary waiting location; based on the current position of the waiting train and its destination, a candidate route is generated; each path segment of the candidate route is traversed, and when all path segments are conflict-free, the candidate route is locked as the target route; according to the occupied position and travel speed of the waiting train, a route command is triggered one by one according to the path segments of the target route.

[0007] According to a route planning method for depot train transportation provided by the present invention, traversing each route segment of the candidate route includes: determining whether there is a train traveling in the same direction in the route segment; when there is no train traveling in the same direction in the route segment, designating the route segment as a conflict-free segment; when there is a train traveling in the same direction in the route segment, determining the passage priority between the standby train and the train traveling in the same direction; and when the passage priority of the standby train is higher, designating the route segment as a conflict-free segment.

[0008] According to the route planning method for depot train transportation provided by the present invention, the passage priority includes: trains that are empty but carrying molten iron ladles have the first priority; trains that are empty but without molten iron ladles have the second priority; and trains that are loaded with molten iron have the third priority.

[0009] According to a route planning method for depot train transportation provided by the present invention, after generating candidate routes based on the current position and destination of the standby train, the method further includes: when there is an oncoming train in the candidate route and the oncoming train has locked a route segment in the candidate route, regenerating other candidate routes.

[0010] According to the route planning method for depot train transportation provided by the present invention, the step of triggering route instructions one by one according to the route segments of the target route includes: detecting whether there is a higher priority train in the adjacent section of the occupied position of the standby train; when there is a higher priority train, adding the current route instruction to the instruction queue for delayed triggering; when there is no higher priority train and there is no train traveling in the opposite direction in the route, immediately triggering the route instruction.

[0011] According to a route planning method for depot train transportation provided by the present invention, the method further includes: in response to receiving a destination change instruction from the standby train, regenerating candidate routes based on the new destination and performing conflict detection, while releasing the route resources of the original target route.

[0012] The present invention also provides a route planning device for depot train transportation, comprising the following modules: an allocation module, configured to, in response to receiving a cargo preparation completion signal and issuing vehicle binding information, allocate destinations to standby trains to obtain the destinations of the standby trains, wherein the destinations include: cargo loading points, cargo unloading points, cargo replacement points, and temporary standby locations; a generation module, configured to generate candidate routes based on the current position of the standby train and the destination of the standby train; a locking module, configured to traverse each path segment of the candidate routes, and lock the candidate routes as target routes when all path segments are conflict-free segments; and a triggering module, configured to, according to the occupied position and the travel speed of the standby train, trigger route instructions one by one according to the path segments of the target route.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the route planning method for depot traffic transportation as described above.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the route planning method for depot traffic transportation as described above.

[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements a route planning method for depot traffic transportation as described above.

[0016] The present invention provides a route planning method and apparatus for depot train transportation. After receiving a signal indicating that cargo preparation is complete, it rationally allocates destinations for standby trains, covering cargo loading, unloading, and transfer points, ensuring clear transportation tasks. Next, it generates candidate routes based on the train's current position and destination, providing a foundation for subsequent planning. Then, it traverses each segment of the candidate routes, selecting the route with no conflicts among all segments as the target route, effectively avoiding conflicts during transportation and ensuring operational safety and efficiency. Finally, based on the train's occupied position and speed, it triggers route commands one by one according to the path segments of the target route, achieving precise control of the train transportation process and ensuring the rationality and efficiency of depot train transportation route planning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the route planning method for depot transportation provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the station provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the route instruction judgment logic of the molten iron dispatching system provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the destination setting code provided by the present invention.

[0022] Figure 5 This is one of the code diagrams for path setting provided by the present invention.

[0023] Figure 6 This is the second schematic diagram of the path setting provided by the present invention.

[0024] Figure 7 This is a schematic diagram of the module of the route planning device for depot vehicle transportation provided by the present invention.

[0025] Figure 8 This is a schematic diagram of the physical structure of the electronic device provided by the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] Rail transit, with its fixed lines, demonstrates significant advantages in unmanned freight yards due to its strong carrying capacity and high degree of automation. Closed-loop rail operation is unaffected by weather or traffic congestion, ensuring timely freight transport. Train speeds and freight routes are relatively simple, and the volume of each trip and equipment operation processes are relatively fixed, making it suitable for automated system scheduling.

[0028] In urban rail transit, automated depot operations have become a common requirement for depot operations, and against this backdrop, automated depots have emerged.

[0029] With the development of driverless, obstacle detection, and remote control technologies, more and more subway lines are equipped with fully automated operation systems, and automated depots are also being put into use on a large scale.

[0030] In automated depots, trains can automatically complete a series of operational processes, including sleep mode, wake-up, entry into the depot, exit from the depot, and car washing. The fully automated operation system reduces manpower input and makes intelligent operational processes smoother.

[0031] The mature application of automated depots in the field of urban rail transit has driven the upgrading and improvement of automation technology, providing a foundation for automated transportation operations on local fixed-line rail transit.

[0032] The unmanned dispatching function of a typical automated depot completes train self-inspection and dispatch in advance based on the daily operation plan; and directs mainline train operation according to the daily operation plan, including train speed, station stop time, turnaround time, etc.

[0033] The fully automated operation system has very strict requirements for work plans. The daily scheduling is changed, and the daily train operation plan, including the number of trains in service and their arrival and departure times, is executed according to the daily plan. The automated depot, as a section included in the fully automated operation system, provides the basic vehicle operation foundation for mainline train operations and arrival / departure events based on the work plan.

[0034] Automated freight yard transportation mainly involves fixed rail transit freight transportation within the yard area, lacking strong binding to daily plans. Furthermore, within the freight yard, there is a lack of information such as the time of completion of goods preparation, preparation cycle, and total quantity of goods, which cannot provide planning information for unmanned automated freight transportation operations. It also lacks key information such as the number of trains required and operating routes. Therefore, it is difficult to organize effective train route planning and conflict detection, which greatly hinders the path and timeliness of unmanned freight transportation.

[0035] This invention provides a route planning method for depot transportation. Based on the preparation and delivery status of goods at irregular time periods, a temporary pickup and delivery plan is formulated, transportation vehicles are organized, and the transportation work is completed according to the temporarily automatically generated plan.

[0036] Optionally, the route planning method for depot transportation in this embodiment can be executed by a server, by a terminal device, or by both a server and a terminal device. For example, the route planning method for depot transportation in this embodiment can be executed by a server.

[0037] Figure 1 This is a flowchart illustrating the route planning method for depot transportation provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps.

[0038] Step 101: In response to receiving the cargo preparation completion signal and sending vehicle binding information, the destination of the waiting train is assigned to obtain the destination of the waiting train.

[0039] The destinations include: cargo loading points, cargo unloading points, cargo exchange points, and temporary waiting locations where delivery is not yet possible. In some embodiments, a cargo status monitoring system is installed within the depot, such as by installing sensors in the cargo storage area or by interfacing with the cargo management system. Once the cargo has completed packaging, inspection, and other preparations, the monitoring system automatically generates a cargo preparation completion signal and transmits the signal to the control server of the depot's train dispatch center via wired or wireless communication.

[0040] By using onboard equipment (such as positioning systems and status sensors) installed on the trains, as well as facilities such as track circuits, transponders, and beacons within the depot, the location and status (such as whether they are idle or faulty) of standby trains are acquired in real time and transmitted to the control server. Based on the train status information, the control server filters out trains that are currently in standby status (i.e., idle and fault-free) to form a standby train list.

[0041] Based on the operational needs of the depot and the characteristics of the goods, a mapping table is pre-established between goods and their destinations (loading points, unloading points, transfer points, and temporary waiting locations where delivery is not yet possible). For example, for a specific type of goods, it is stipulated that they must be loaded at designated loading points and unloaded at specific unloading points. When goods need to be repackaged or repackaged, they are moved to transfer points.

[0042] Based on cargo information and pre-defined allocation rules and priorities, suitable destinations are selected for each standby train from the standby train list. For example, for a batch of urgent and lightweight cargo, standby trains that are close to the loading point and available are selected, and corresponding loading and unloading points are assigned to them. If the cargo needs to be changed, a cargo change point is assigned simultaneously. During the destination allocation process, multiple cargoes may compete for the same destination simultaneously. In this case, the control server makes a comprehensive judgment based on factors such as cargo priority and transportation time requirements, and readjusts the destination allocation scheme to ensure the efficient execution of the transportation task.

[0043] Step 102: Generate candidate routes based on the current location and destination of the standby train.

[0044] In some embodiments, the precise location information of standby trains is obtained in real time through track circuits, transponders, beacons, GPS, or inertial navigation-based positioning systems installed within the depot. This positioning data is transmitted to the control server of the depot's train dispatch center to ensure that the server can accurately grasp the current location of each standby train.

[0045] Read the target location of the standby train from the assigned destination information, including the specific coordinates or identifiers of the cargo loading point, cargo unloading point, or cargo transfer point.

[0046] Depending on the complexity of the road network and real-time requirements, a suitable path search algorithm should be selected, such as Dijkstra's algorithm or a graph-based shortest path algorithm. These algorithms can quickly find all possible paths from the starting point to the destination in the road network topology.

[0047] When generating candidate routes, multiple optimization objectives are considered, such as shortest route length, minimum transportation time, and lowest energy consumption. Candidate routes that meet different optimization objectives are selected using weighted scoring or Pareto optimality methods. During route generation, actual operational constraints are applied, including track speed limits, turnout operation time, and minimum train intervals, to ensure that the generated candidate routes are feasible for practical operation.

[0048] Step 103: Traverse each path segment of the candidate path. When all path segments are conflict-free segments, lock the candidate path as the target path.

[0049] In some embodiments, the occupancy status of each path segment is acquired in real time through track circuits, transponders, or train positioning systems within the depot. This information is transmitted to a control server for collision detection.

[0050] In some embodiments, a path segment is path information composed of multiple first-to-last connected paths.

[0051] For each candidate path, traverse all its path segments in order from origin to destination. For each path segment, check its current occupancy status and potential future occupancy requests. By comparing with real-time road network status data, determine whether the path segment has any conflicts.

[0052] For example, check whether the route segment has been occupied or reserved by other trains. Based on the train operation plan and speed curve, predict the time when the train will enter the route segment (conflicting resource) and check whether it overlaps with the resource requisition time of other trains.

[0053] If no conflicts are detected in any of the path segments of a candidate path during the traversal, the candidate path is determined to be a conflict-free path. The conflict-free candidate path is locked as the target route, and the path is marked as "occupied" or "reserved" in the control server to prevent other trains from requesting the same path.

[0054] As train operations and network conditions change, the occupancy status of route segments and conflict detection results are dynamically updated. After locking onto a target route, if the network condition changes (e.g., other trains complete transport and release the route), the remaining candidate routes are re-traversed to find new conflict-free routes.

[0055] Step 104: Based on the occupied position and speed of the standby train, trigger route commands one by one according to the path segments of the target route.

[0056] Here, each path segment of the candidate path is traversed, and when all path segments contain conflict-free segment resources, the candidate path is locked as the target path; based on the occupied position and the travel speed of the standby train, the path command is automatically triggered one by one according to the path segments of the target path (i.e., in order and in position).

[0057] In this embodiment of the invention, track circuits, transponders, and onboard positioning systems within the depot are used to monitor the occupancy status of standby trains in real time. The track circuits detect the occupancy of track sections by trains, the transponders send precise location information to the train and ground equipment, and the onboard positioning system combines data from multiple sensors to provide high-precision train location. This information is transmitted to the control server in real time, ensuring the server has the latest train position information.

[0058] The train's speed is collected in real time by speed sensors installed on the train, and the data is transmitted to the control server. Speed ​​sensors can be photoelectric, Hall effect, or other types, and can accurately measure the train's speed under different operating conditions.

[0059] The identified target route is further decomposed into multiple path segments according to the road network topology of the section. Each path segment has its starting point, ending point, length, speed limit, associated switches and signals, and other information.

[0060] For each path segment, conditions are set to trigger a route instruction. For example, when the train approaches the starting point of the path segment at a certain distance, or when the difference between the train's estimated arrival time and the current time is less than a certain threshold, the corresponding route instruction is triggered.

[0061] The control server processes each path segment sequentially according to the order of the target route. Starting from the first path segment, it determines whether the triggering condition is met.

[0062] Based on the train's location and speed, combined with the triggering conditions of the path segment, it is determined whether to trigger the route instruction for that path segment. For example, if the train's current location is 500 meters from the starting point of the path segment, and it is expected to arrive in 30 seconds at the current speed, while the set triggering conditions are 600 meters from the starting point or an expected arrival time within 40 seconds, then the triggering conditions are met. Once the route is established, the corresponding conflicting resources are requisitioned.

[0063] When the triggering conditions are met, the control server generates corresponding route instructions. Route instructions include turnout operation instructions (such as turnout positioning and reversal) and signal opening instructions (such as opening green and yellow lights). These instructions are sent to the relevant turnout control equipment and signal control equipment via the communication network to ensure that the equipment executes the operations according to the instructions.

[0064] Through this invention, after receiving a cargo preparation completion signal, the destination of the standby train is rationally allocated, covering cargo loading, unloading, and transfer points, ensuring clear transportation tasks. Next, candidate routes are generated based on the train's current location and destination, providing a foundation for subsequent planning. Then, each segment of the candidate routes is traversed, and the path with no conflicts in all segments is selected as the target route, effectively avoiding conflicts during transportation and ensuring driving safety and efficiency. Finally, based on the train's occupied position and speed, route instructions are triggered one by one according to the path segments of the target route, achieving precise control of the train transportation process and ensuring the rationality and efficiency of depot transportation route planning.

[0065] According to the route planning method for depot vehicle transportation provided by the present invention, traversing each route segment of the candidate route includes: Determine if there are trains traveling in the same direction on the path segment; When there are no trains traveling in the same direction on a path segment, the path segment is treated as a conflict-free segment. When there are trains traveling in the same direction on a route segment, determine the passage priority between the waiting train and the train traveling in the same direction. When the route segment is a turnaround track, the train route containing the turnaround track will be treated as a single train route, and only one train is allowed to enter the single train route. When the priority of waiting trains is higher, the path segment is treated as a conflict-free segment.

[0066] In this embodiment of the invention, a common turnaround area is specified. When the destination of the train is the turnaround track, the train route that includes the turnaround track is changed to a single train route, that is, only one train is allowed to enter, so as to avoid subsequent trains triggering conflict routes with the turnaround train. In this embodiment of the invention, each candidate path is traversed in a predetermined order (e.g., from the starting point to the ending point). Each path segment serves as the basic unit of traversal, ensuring that no track or region is missed.

[0067] For the currently traversed path segment, the train occupancy status within that segment is obtained in real time through the train positioning system within the section (such as track circuits, transponders, GPS, etc.). All trains traveling in the same direction as the standby train are identified, and their numbers, positions, and speeds are recorded.

[0068] If no trains traveling in the same direction are detected within the current path segment, the path segment is directly marked as a conflict-free segment.

[0069] When trains traveling in the same direction exist on a route segment, the passage priority between the standby train and the train traveling in the same direction is determined according to a preset priority rule. The priority of the standby train is then compared with the priority of the train traveling in the same direction.

[0070] If the standby train has a higher priority, the path segment is marked as a conflict-free segment; if the standby train has a lower priority than the train traveling in the same direction, it waits for the train traveling in the same direction to pass.

[0071] Through the embodiments of the present invention, it is possible to accurately determine whether there is a conflict in the path segment, and to reasonably determine the passage priority when there are trains in the same direction, thereby ensuring the safety and efficiency of depot operation and transportation.

[0072] According to the route planning method for depot train transportation provided by the present invention, after generating candidate routes based on the current location and destination of the standby train, the method further includes: When there is an oncoming train in the candidate path, and the oncoming train has locked the path segment in the candidate path, other candidate paths are regenerated.

[0073] After candidate routes are generated, the train positioning system within the depot (such as track circuits, transponders, GPS, etc.) is used in real time to detect whether there are any trains traveling in the opposite direction to the standby train on the candidate routes. An opposite train refers to a train traveling in the opposite direction to the standby train.

[0074] For each candidate route, check whether the route segments it contains have been locked by oncoming trains. The locking status of a route segment is usually controlled by the depot signaling system, indicating that the segment has been occupied or reserved by a train, and other trains are not allowed to enter.

[0075] If there is an oncoming train in the candidate path, and that oncoming train has already locked at least one segment of the candidate path, then the candidate path is determined to be in conflict and cannot be used for waiting trains.

[0076] For conflicting candidate paths, the control server automatically triggers a process to regenerate other candidate paths. For example, conflicting candidate paths are removed from the candidate list to avoid further consideration. Based on the current location and destination of the waiting train, combined with the current network status (including locked path segments), new candidate paths are regenerated. This can be achieved through a path search algorithm, ensuring that the newly generated path does not contain segments locked by oncoming trains.

[0077] The embodiments of the present invention can effectively handle the path conflict problem caused by the blocking of path segments by opposing trains, ensuring the continuity and safety of train operation in the depot.

[0078] According to a route planning method for depot vehicle transportation provided by the present invention, the step of triggering route instructions one by one according to the route segments of the target route includes: Detect whether there are higher priority trains in the adjacent sections of the occupied position of the standby train; When a higher priority train exists, the current route instruction is added to the instruction queue for delayed triggering; When there are no higher priority trains and no trains traveling in the opposite direction in the route, a route instruction is immediately triggered.

[0079] In this embodiment of the invention, the occupancy position of the standby train is obtained in real time through a train positioning system within the depot (such as track circuits, transponders, GPS, etc.), and its adjacent forward-direction sections are identified. Adjacent sections typically refer to track sections directly connected to the currently occupied section.

[0080] The priority of the standby train is compared with the priority of trains detected in adjacent sections. If a higher-priority train exists in an adjacent section, the following actions are taken: Add to command queue: Add the route command that needs to be triggered to the command queue and set an appropriate delay time. The command queue can be a first-in, first-out (FIFO) queue or other priority queues, depending on the actual needs.

[0081] Delay triggering mechanism: During the delay period, the status of adjacent sections is continuously monitored. If a higher-priority train leaves or no longer occupies an adjacent section, the route instruction is reassessed.

[0082] If no higher-priority trains are found in adjacent sections, the check continues to examine whether there are trains traveling in the opposite direction within the route.

[0083] Within the target route segment, the train positioning system and direction of travel information are used to detect whether there are trains traveling in the opposite direction to the waiting train. Trains traveling in the opposite direction are those traveling in the opposite direction to the waiting train.

[0084] When there are no higher priority trains in adjacent sections and no trains traveling in the opposite direction in the route, the control server generates corresponding route instructions (such as turnout operation instructions, signal opening instructions, etc.) and sends them to relevant equipment for execution through the communication network.

[0085] If the network status changes while the delayed-triggered instruction is waiting in the queue (such as a higher-priority train leaving or a train traveling in the opposite direction passing by), the triggering conditions will be reassessed, and the execution order or triggering timing of the instruction queue will be adjusted accordingly.

[0086] Through the embodiments of the present invention, the timing of triggering route instructions can be reasonably managed according to the occupancy position of standby trains and the status of adjacent sections, thereby ensuring the safety and efficiency of depot and section transportation.

[0087] According to the route planning method for depot vehicle transportation provided by the present invention, the method further includes: In response to receiving the destination change instruction from the standby train, a new candidate path is generated based on the new destination, and conflict detection is performed, while the path resources of the original target route are released.

[0088] In this embodiment of the invention, after receiving a destination change instruction, the control server parses the instruction and extracts the new destination information.

[0089] Before regenerating candidate routes, the path resources occupied by the original target route are first identified, including track sections, switches, signals, etc. This resource information is usually stored in the control server's database and associated with the target route.

[0090] The control signal system is used to release the path resources occupied by the original target route. This includes, for example, returning switches to their initial positions, closing relevant signals, and releasing the locking status of track sections. Resource release operations must be safe and reliable to avoid affecting the operation of other trains.

[0091] Based on the current location and new destination of the waiting train, a path search algorithm is used to regenerate candidate paths. The path search algorithm should consider factors such as the road network topology of the depot, the length of the track section, speed limits, and turnout status to generate the optimal or feasible path.

[0092] Candidate routes after conflict detection are evaluated and ranked according to preset evaluation indicators (such as route length, transportation time, energy consumption, etc.). The evaluation indicators can be weighted according to actual needs to generate an optimal list of candidate routes.

[0093] The optimal path is selected from the sorted candidate paths as the new target route, and the target route information is sent to the relevant equipment so that the train can run according to the new target route.

[0094] Through the embodiments of the present invention, when a destination change instruction for a standby train is received, a candidate route can be regenerated in a timely and accurate manner, conflict detection can be performed, and the route resources of the original target route can be released, ensuring the flexibility and efficiency of depot train operation and transportation.

[0095] The following describes an example of a route planning method for depot vehicle transportation provided by the present invention in a practical application.

[0096] Taking the transportation of molten iron in a steel plant as an example, in the steel plant, the blast furnace is smelting steel 24 hours a day without interruption. The length of the steelmaking process is unknown. After the steelmaking is completed, the molten iron can be confirmed to be ready through sensor devices. Then, a transport vehicle needs to carry the molten iron ladle to the bottom of the steelmaking furnace, receive the molten iron, and transport it to the steel rolling workshop to deliver the molten iron ladle, thus completing the steel smelting.

[0097] Based on factors such as fixed track lines, non-fixed cycle requirements for molten iron receiving, and automatic ladle matching, this invention designs molten iron transportation routes and avoidance mechanisms, enabling unmanned molten iron transportation and meeting the needs of automated molten iron dispatching.

[0098] refer to Figure 2 , Figure 2 This is a schematic diagram of the station provided by the present invention.

[0099] like Figure 2 As shown, 35 destinations (DST01-DST35, which can be added or removed as needed) are added to the station interface; each destination can serve as the final track for the train; after the vehicle is attached to the molten iron ladle (capable of loading molten iron), it will drive into the destination track below the blast furnace as needed. After receiving the molten iron, it will complete the turnaround operation via DST28 to DST30, deliver the molten iron ladle to the destinations DST01-DST04, and equip it with a new molten iron ladle to continue the molten iron delivery operation.

[0100] During the above operations, it is necessary to set train priorities, set continuous routes, and automatically trigger them one by one according to the train position; and to perform path avoidance according to train priorities to avoid problems such as train congestion.

[0101] According to the route planning method for depot vehicle transportation provided by the present invention, the traffic priority includes: Trains that are empty but carry molten iron ladles have the highest priority; trains that are empty but do not carry molten iron ladles have the second highest priority; and trains that are loaded with molten iron have the third highest priority.

[0102] It should be noted that the first, second, and third priorities are set according to the actual application scenario, and the priorities can be added, modified, or adjusted according to actual needs.

[0103] In some embodiments, the train priority is set as follows: Train + empty ladle > Train + no ladle > Train + molten iron ladle > Non-communication car; The priority can be modified according to user needs. This priority can meet all states of different types of molten iron cars and is used for the priority of different cars in requisitioning route resources. For routes that have already been processed, the train needs to travel along the predetermined route to complete the process before the route resources can be released.

[0104] refer to Figure 3 , Figure 3 This is a schematic diagram of the route instruction judgment logic of the molten iron dispatching system provided by the present invention.

[0105] In this embodiment of the invention, the logic for requisitioning train route resources is as follows: When multiple (two or more) molten iron cars with different routes pass through the same location at the same time, the system can detect the molten iron car operation conflict and arrange for the molten iron cars to stop and wait or continue to travel according to the molten iron car routes and priorities planned within the system.

[0106] Based on all the route information, the system sets the optimal round-trip route (3-4 routes) from blast furnace No. 3 to the steel rolling mill; when the molten iron car has no production task, it can stop at the optimal storage position (specified by the user), and the optimal route from the storage position to blast furnace No. 3 and the steel rolling mill is determined. The destination of the molten iron car is sent to the ATS system by the ladle scheduling system or by manual modification of the destination method. The ATS subsystem then automatically processes the route according to the location occupied by the molten iron car and the destination. After the molten iron car receives the destination, the system plans a reachable path from the car's current location to the destination based on the path: If another molten iron car is approaching from the opposite direction on the found path and the route is locked, the current molten iron car will search for other reachable paths and will not trigger a route. If there are other accessible routes and no other conflicting vehicles on those routes, then the conditions for processing the route are met. At this point, the system checks the adjacent sections of the current molten iron car to see if there are other molten iron cars planning to process routes: The current molten iron car (high priority) has received a path to a certain destination, and there are no conflicting molten iron cars on the path; Based on the current location of the molten iron car, the system searches for adjacent sections to determine if there are routes with the same or similar destinations, and then requisitions the track equipment required for the planned route of the current molten iron car. If a higher-priority molten iron car that meets the above two conditions is detected in an adjacent section, the current molten iron car route processing instruction will be added to the instruction queue.

[0107] If there are no conflicting water cars on the current molten iron car and no water cars traveling in the opposite direction are traveling along the route, the current molten iron car can issue a route processing instruction.

[0108] In this embodiment of the invention, the path resource requisition logic is as follows: In the system, based on the route, the route that connects the two ends is selected as the predetermined running path, which is used as the route resource for the train to be pre-requisitioned. The predetermined walking path travels between different destinations. Based on the connection between the first and second routes between different destinations, list all walkable paths traveling between different destinations. If a train is detected to be blocked, the route can be re-arranged according to the train tracking logic, so that the farthest reachable point of the following train is set to the rear of the preceding train. If an oncoming train is detected occupying the route, the current train can select an alternative route as its predetermined travel path based on the pre-requisition of route resources by the oncoming train. Once the route is confirmed, it is generally not changed. For conflicting operations, the option is to wait and requisition or release route resources according to priority. Changing the destination will change the travel route, and the system will automatically create a new pre-planned route based on the new destination.

[0109] Through the embodiments of the present invention, the depot is an automated depot with automatic train route processing function; the depot has a relatively simple route for transporting molten iron, and different trains can requisition routes and set routes according to their destinations; different trains compare priorities before occupying route equipment resources, making the operation process relatively reasonable.

[0110] This method can be used when selecting routes and paths to avoid conflicts in automated yards with fixed areas and frequent back-and-forth transport of goods between designated locations. It can effectively avoid the tediousness of manually setting routes, making automatic loading of goods by trains more convenient and efficient.

[0111] refer to Figure 4 , Figure 4 This is a schematic diagram of the destination setting code provided by the present invention.

[0112] refer to Figure 5 , Figure 5 This is one of the code diagrams for path setting provided by the present invention.

[0113] refer to Figure 6 , Figure 6 This is the second schematic diagram of the path setting provided by the present invention.

[0114] The path planning device for depot vehicle transportation provided by the present invention will be described below. The path planning device for depot vehicle transportation described below can be referred to in correspondence with the path planning method for depot vehicle transportation described above.

[0115] refer to Figure 7 , Figure 7 This is a schematic diagram of the module of the route planning device for depot vehicle transportation provided by the present invention.

[0116] The allocation module 701 is used to respond to receiving a cargo preparation completion signal and sending vehicle binding information to allocate the destination of the waiting train, thereby obtaining the destination of the waiting train, wherein the destination includes: cargo loading point, cargo unloading point, cargo replacement point and temporary waiting location. The generation module 702 is used to generate candidate routes based on the current location of the standby train and the destination of the standby train; The locking module 703 is used to traverse each path segment of the candidate path and lock the candidate path as the target path when all path segments are conflict-free segments. The triggering module 704 is used to trigger route instructions one by one according to the path segments of the target route, based on the occupied position of the standby train and the travel speed of the standby train.

[0117] Specifically, the route planning device for depot transportation provided by the present invention can realize all the method steps implemented in the above-mentioned route planning method embodiment for depot transportation, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0118] Figure 8 This is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as... Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a route planning method for depot transportation. The method includes: in response to receiving a cargo preparation completion signal and issuing vehicle binding information, assigning a destination to the waiting train to obtain the destination of the waiting train, wherein the destination includes: a cargo loading point, a cargo unloading point, a cargo replacement point, and a temporary waiting location; generating candidate routes based on the current position of the waiting train and the destination of the waiting train; traversing each path segment of the candidate routes, and locking the candidate route as the target route when all path segments are conflict-free; and triggering route instructions one by one according to the occupancy position and travel speed of the waiting train, according to the path segments of the target route.

[0119] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0120] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the route planning method for depot train transportation provided by the above methods. The method includes: in response to receiving a cargo preparation completion signal and issuing vehicle binding information, assigning a destination to a waiting train to obtain the destination of the waiting train, wherein the destination includes: a cargo loading point, a cargo unloading point, a cargo changing point, and a temporary waiting location; generating a candidate path based on the current position of the waiting train and the destination of the waiting train; traversing each path segment of the candidate path, and locking the candidate path as the target route when all path segments are conflict-free segments; and triggering route instructions one by one according to the occupancy position and travel speed of the waiting train, according to the path segments of the target route.

[0121] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a route planning method for depot transportation provided by the methods described above. The method includes: in response to receiving a cargo preparation completion signal and issuing vehicle binding information, assigning a destination to a waiting train to obtain the destination of the waiting train, wherein the destination includes: a cargo loading point, a cargo unloading point, a cargo changing point, and a temporary waiting location; generating a candidate path based on the current position of the waiting train and the destination of the waiting train; traversing each path segment of the candidate path, and locking the candidate path as the target route when all path segments are conflict-free segments; and triggering route instructions one by one according to the occupancy position and travel speed of the waiting train, based on the path segments of the target route.

[0122] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A route planning method for depot-based vehicle transportation, characterized in that, include: In response to receiving a cargo preparation completion signal and issuing vehicle binding information, the destination of the waiting train is assigned to obtain the destination of the waiting train, wherein the destination includes: cargo loading point, cargo unloading point, cargo exchange point and temporary waiting location. Based on the current location and destination of the standby train, a candidate route is generated; Traverse each path segment of the candidate path, and when all path segments are conflict-free segments, lock the candidate path as the target path; Based on the occupied position and speed of the standby train, route commands are triggered one by one according to the path segments of the target route. The traversal of each path segment of the candidate path includes: Determine whether there are trains traveling in the same direction on the path segment; When there are no trains traveling in the same direction on the path segment, the path segment is considered a conflict-free segment; When there are trains traveling in the same direction on the route segment, determine the passage priority between the standby train and the train traveling in the same direction; Wherein, when the path segment is a turnaround track, the train route containing the turnaround track is used as a single train route, and only a single train is allowed to enter the single train route; When the priority of the standby train is higher, the path segment is treated as a conflict-free segment; The step of triggering route instructions one by one according to the path segments of the target route includes: Detect whether there are higher priority trains in the adjacent sections of the occupied position of the standby train; When a higher priority train exists, the current route instruction is added to the instruction queue for delayed triggering; When there are no higher priority trains and no trains traveling in the opposite direction in the route, a route instruction is immediately triggered.

2. The route planning method for depot road transport according to claim 1, characterized in that, The passage priority includes: Trains that are empty but carry molten iron ladles have the highest priority; trains that are empty but do not carry molten iron ladles have the second highest priority; and trains that are loaded with molten iron have the third highest priority.

3. The route planning method for depot traffic transportation according to claim 1, characterized in that, After generating candidate routes based on the current location and destination of the standby train, the method further includes: When there is an oncoming train in the candidate path, and the oncoming train has locked the path segment in the candidate path, other candidate paths are regenerated.

4. The route planning method for depot road transport according to claim 1, characterized in that, The method further includes: In response to receiving the destination change instruction from the standby train, a new candidate path is generated based on the new destination, and conflict detection is performed, while the path resources of the original target route are released.

5. A route planning device for depot vehicle transportation, characterized in that, include: The allocation module is used to respond to the receipt of a cargo preparation completion signal and send vehicle binding information to allocate the destination of the waiting train, thereby obtaining the destination of the waiting train, wherein the destination includes: cargo loading point, cargo unloading point, cargo exchange point and temporary waiting location. The generation module is used to generate candidate routes based on the current location of the standby train and the destination of the standby train; The locking module is used to traverse each path segment of the candidate path and lock the candidate path as the target path when all path segments are conflict-free segments. The triggering module is used to trigger route instructions one by one according to the path segments of the target route, based on the occupied position of the standby train and the travel speed of the standby train. The locking module is specifically used for: Determine whether there are trains traveling in the same direction on the path segment; When there are no trains traveling in the same direction on the path segment, the path segment is considered a conflict-free segment; When there are trains traveling in the same direction on the route segment, determine the passage priority between the standby train and the train traveling in the same direction; Wherein, when the path segment is a turnaround track, the train route containing the turnaround track is used as a single train route, and only a single train is allowed to enter the single train route; When the priority of the standby train is higher, the path segment is treated as a conflict-free segment; The triggering module is specifically used for: Detect whether there are higher priority trains in the adjacent sections of the occupied position of the standby train; When a higher priority train exists, the current route instruction is added to the instruction queue for delayed triggering; When there are no higher priority trains and no trains traveling in the opposite direction in the route, a route instruction is immediately triggered.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the route planning method for depot traffic transportation as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the route planning method for depot traffic transportation as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the route planning method for depot traffic transportation as described in any one of claims 1 to 4.

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