A multimodal transport cargo handover management method, device, equipment and medium

Abstract

This application provides a method, apparatus, equipment, and medium for managing the handover of multimodal transport goods, effectively solving various problems existing in current multimodal transport systems regarding the scheduling of transport vehicles and the handover of transported goods. The method includes: a central decision-making layer processing freight tasks and real-time park status information through an objective optimization function to generate an optimal multimodal transport task chain; the central decision-making layer reserving corresponding path resources for the multiple transport path segments and generating a scheduling schedule after the reservation is completed, to send a first navigation instruction to a first transport unit; the first transport unit executing the first navigation instruction transporting standardized cargo containers to be located at the handover node together with a second transport unit during the handover time period, triggering the intelligent hub layer; and a contactless, high-speed transfer of the standardized cargo containers to the second transport unit via an electromagnetic catapult handover device on the intelligent hub layer.

Description

Technical Field

[0001] This application relates to the field of intelligent logistics technology, and more specifically, to a method, apparatus, equipment, and medium for managing the handover of multimodal transport goods. Background Technology

[0002] Traditional multimodal transport systems primarily rely on a phased, independent scheduling and manual intervention model for cargo handover. In terms of implementation, a central scheduling system is typically used for task allocation, sending route instructions to vehicles via wireless communication. When different vehicles arrive at a transfer station, the traditional approach mainly relies on two handover methods: one is mechanized handover based on fixed infrastructure, such as using forklifts, conveyor belts, or robotic arms for loading and unloading; the other is semi-automated handover, which uses standardized containers and locking mechanisms to achieve physical docking between vehicles, followed by manual or simple mechanical transfer of goods. Throughout this process, the scheduling of each transport mode is relatively independent, and route planning and resource reservation often rely on static schedules or dynamic adjustments based on experience, lacking coordinated optimization of global spatiotemporal resources.

[0003] Traditional methods, due to their decentralized scheduling, result in waiting gaps between various transportation links, leading to low utilization of time and space resources. Their mechanized loading and unloading processes take several minutes to tens of minutes, becoming a speed bottleneck in the logistics chain. Furthermore, physical contact handover inevitably brings the risk of cargo collision and damage. More importantly, traditional systems lack precise reservation mechanisms for key resources such as right-of-way and hub equipment, resulting in frequent resource conflicts and traffic congestion in actual operations. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, apparatus, equipment and medium for managing the handover of multimodal transport goods, which effectively solves a variety of problems existing in the scheduling of transport vehicles and the handover of transported goods in the current multimodal transport system.

[0005] In a first aspect, embodiments of this application provide a multimodal transport cargo handover management method, applied to a management system, the management system including a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer, the method including: The central decision-making layer processes the received freight tasks, including standardized cargo containers, and real-time park status information through an objective optimization function to generate an optimal multimodal transport task chain that includes multiple transport routes, handover nodes, and corresponding heterogeneous transport capacity units. The central decision-making layer reserves corresponding route resources for the multiple transportation route segments, and generates a scheduling schedule after the reservation is completed, so as to send a first navigation command to the first transportation unit in the heterogeneous transportation unit that transports the standardized cargo box; the physical execution layer includes a second transportation unit in addition to the first transportation unit of the heterogeneous transportation unit. The first transport unit executes the first navigation command to transport the standardized cargo box, so that it and the second transport unit are both located at the handover node during the handover period, and trigger the smart hub layer; The standardized cargo container is transferred to the second transport unit at high speed without contact via an electromagnetic catapult transfer device on the intelligent hub layer, and a completion confirmation signal is sent back to the central decision-making layer. The transportation process of the second transport unit is monitored in real time through the interactive simulation layer.

[0006] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein the central decision-making layer reserves path resources corresponding to the plurality of transportation path segments, including: The corresponding spatiotemporal right-of-way and corresponding handover nodes are calculated for the multiple transportation path segments respectively; Based on the spatiotemporal access rights and handover nodes, the handover time periods of the spatiotemporal access rights and the electromagnetic catapult handover devices in the handover nodes are reserved respectively to generate a scheduling schedule. In conjunction with the first aspect, embodiments of this application provide a second possible implementation of the first aspect, wherein generating a scheduling schedule includes: After determining the transportation route segment, the handover node on this transportation route segment is set from multiple candidate handover nodes based on a preset optimization algorithm; The handover time period of the handover node is adjusted according to the path time consumption, so as to integrate the transportation path segment, handover node, and handover time period to generate a scheduling schedule.

[0007] In conjunction with the first aspect, this application provides a third possible implementation of the first aspect, wherein the first transport unit executes the first navigation command to transport the standardized cargo container, so as to be located together with the second transport unit at the handover node, including: Obtain the path length of each transport unit in its transport route segment, the corresponding real-time traffic status, and the preset arrival time on the scheduling schedule; The speed of each transport unit is adjusted based on the route length, traffic conditions, and preset arrival time.

[0008] In conjunction with the first aspect, this application provides a fourth possible implementation of the first aspect, wherein the contactless, high-speed transfer of standardized cargo containers from the first transport unit to the second transport unit via an electromagnetic catapult transfer device on the intelligent hub layer includes: Real-time acquisition of speed, acceleration, and weight data of the standardized cargo box during the transfer process; Based on the speed data, weight data, and acceleration data, the electromagnetic buffer device is controlled to generate a buffering force to assist the electromagnetic catapult transfer device in transferring the standardized cargo box.

[0009] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein the electromagnetic catapult transfer device transfers the standardized cargo container, including: The system identifies the standardized cargo container being transported by the first transport unit and, after identification, transfers the standardized cargo container to a pre-configured electromagnetic catapult transfer device. Based on the electromagnetic catapult transfer device, the standardized cargo container is transferred from the first transport unit to the second transport unit.

[0010] In conjunction with the first aspect, this application provides a sixth possible implementation of the first aspect, wherein the central decision-making layer processes the received freight tasks including standardized cargo containers and real-time park status information through an objective optimization function, including: Extract various types of information about the freight task, and construct the target optimization function based on the various types of information and the real-time park status information; Based on the objective optimization function, the optimal multimodal transport task chain for the freight task is solved.

[0011] Secondly, embodiments of this application provide a multimodal transport cargo handover management device, applied to a management system, the management system including a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer, the device including: The processing module is used by the central decision-making layer to process the received freight tasks including standardized cargo containers and real-time park status information through the objective optimization function, and generate an optimal multimodal transport task chain containing multiple transport routes, handover nodes and corresponding heterogeneous transport capacity units. The reservation module is used by the central decision-making layer to reserve corresponding path resources for the multiple transportation path segments, and generate a scheduling schedule after the reservation is completed, so as to send a first navigation command to the first transportation unit in the heterogeneous transportation capacity unit that transports the standardized cargo box; the physical execution layer includes a second transportation unit in addition to the first transportation unit of the heterogeneous transportation capacity unit. The transportation module is used by the first transportation unit to execute the first navigation command to transport the standardized cargo box, so that it and the second transportation unit are located at the handover node together during the handover period, and trigger the intelligent hub layer; The transfer module is used to transfer the standardized cargo container to the second transport unit at high speed without contact via the electromagnetic catapult handover device on the intelligent hub layer, and to send a completion confirmation signal back to the central decision-making layer, and to monitor the transportation process of the second transport unit in real time through the interactive simulation layer.

[0012] Thirdly, embodiments of this application provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of any of the multimodal transport cargo handover management methods described above are performed.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of any of the multimodal transport cargo handover management methods described in the present application.

[0014] This application provides a multimodal transport cargo handover management method, applied to a management system. The management system includes a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer. The method first uses the central decision-making layer to process received freight tasks including standardized cargo containers and real-time park status information through an objective optimization function, generating an optimal multimodal transport task chain containing multiple transport routes, handover nodes, and corresponding heterogeneous transport capacity units. Secondly, the central decision-making layer reserves corresponding route resources for the multiple transport route segments and generates a scheduling schedule after the reservation is completed, sending a first navigation command to the first transport capacity unit among the heterogeneous transport capacity units transporting the standardized cargo containers. The physical execution layer includes a second transport capacity unit in addition to the first heterogeneous transport capacity unit. Then, the first transport unit executes the first navigation command to transport the standardized cargo box, so that it and the second transport unit are both located at the handover node during the handover period, and trigger the intelligent hub layer; finally, the standardized cargo box is transferred to the second transport unit at high speed without contact through the electromagnetic catapult handover device on the intelligent hub layer, and a completion confirmation signal is fed back to the central decision layer, and the transport process of the second transport unit is monitored in real time through the interactive simulation layer. Based on the above methods, this application not only achieves contactless high-speed transfer of goods by adopting electromagnetic catapult technology, reducing the handover process time to the millisecond level, which is hundreds of times more efficient than traditional mechanized loading and unloading, completely eliminating the bottleneck of handover efficiency in multimodal transport, but also achieves precise convergence at the handover node, realizing the effect of handover upon arrival and departure upon handover, eliminating the waiting window caused by the dispersion of traditional scheduling, significantly shortening the overall transportation time, and significantly enhancing the safety of cargo transportation, reducing the risk of damage, synergistically optimizing global resources, and improving the utilization rate of the logistics network. This application also provides a feasible technical solution for the large-scale and efficient application of intelligent logistics, continuously optimizing operating costs and possessing large-scale application value. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating a multimodal transport cargo handover management method provided in an embodiment of this application is shown. Figure 2 A hardware architecture diagram of the management system provided in an embodiment of this application is shown; Figure 3 The overall architecture diagram of the management system provided in the embodiments of this application is shown; Figure 4 This illustrates the spatiotemporal resource reservation and scheduling process provided in an embodiment of this application; Figure 5 A timing diagram of the electromagnetic catapult handover execution process provided in an embodiment of this application is shown; Figure 6 A schematic diagram of the transport chain provided in an embodiment of this application is shown; Figure 7 This paper shows a structural block diagram of a multimodal transport cargo handover management device provided in an embodiment of this application; Figure 8 A structural block diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0018] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0020] Traditional multimodal transport relies on phased, independent scheduling and manual handover, with handovers mostly completed through mechanized methods such as forklifts and conveyor belts or semi-automated physical docking, lacking overall spatial and temporal resource optimization. It has significant shortcomings: waiting gaps easily occur between transport links, resulting in low utilization of spatial and temporal resources; mechanized loading and unloading is time-consuming, becoming a bottleneck for logistics speed; physical contact handovers are prone to cargo damage; and the lack of precise reservation mechanisms for key resources frequently leads to resource conflicts and traffic congestion, making it difficult to meet the efficient, safe, and collaborative operational requirements of intelligent logistics.

[0021] Based on this, the present application provides a method, apparatus, equipment and medium for managing the handover of multimodal transport goods, which will be described below through embodiments.

[0022] Example 1 To facilitate understanding of this embodiment, a multimodal transport cargo handover management method disclosed in this application will first be described in detail. For example... Figure 1 The diagram illustrates a process flow chart for a multimodal transport cargo handover management method. This application provides a multimodal transport cargo handover management method applied to a management system. The management system includes a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer. The method includes: S101. The central decision-making layer processes the received freight tasks including standardized cargo containers and real-time park status information through the objective optimization function, and generates an optimal multimodal transport task chain containing multiple transport routes, handover nodes and corresponding heterogeneous transport capacity units. S102, the central decision-making layer reserves the corresponding path resources for the multiple transportation path segments, and generates a scheduling schedule after the reservation is completed, so as to send a first navigation command to the first transportation unit in the heterogeneous transportation unit that transports the standardized cargo box; the physical execution layer includes the first transportation unit of the heterogeneous transportation unit and also includes the second transportation unit. S103. The first transport unit executes the first navigation command to transport the standardized cargo box, so that it and the second transport unit are located at the handover node together during the handover period, and trigger the intelligent hub layer. S104. The standardized cargo container is transferred to the second transport unit at high speed without contact via the electromagnetic catapult transfer device on the intelligent hub layer, and a completion confirmation signal is fed back to the central decision layer. The transportation process of the second transport unit is monitored in real time through the interactive simulation layer.

[0023] This application applies to a management system, including a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer, such as... Figure 2 As shown, the management system, from bottom to top, consists of a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer, all supported by a unified, global IoT sensing network. The physical execution layer includes heterogeneous transportation units responsible for specific transportation tasks, including drones in the first transportation unit and unmanned vehicles in the second. The intelligent hub layer includes intelligent handover hubs deployed at predetermined locations, each comprising an electromagnetic catapult handover device and its control system. These hubs utilize electromagnetic force to drive the high-speed, lossless transfer of standardized cargo containers. The central decision-making layer includes a central dispatch management platform, which comprises three main modules: a dynamic module... The system comprises a dynamic mode selection and path joint optimization algorithm, a task allocation algorithm based on spatiotemporal resource reservation, and an instruction issuance and status update module. The dynamic mode selection and path joint optimization algorithm is used to generate the optimal multimodal transport task chain; the task allocation algorithm based on spatiotemporal resource reservation is used to reserve conflict-free right-of-way and equipment usage time periods; the instruction issuance and status update module is used to monitor the system status in real time and make dynamic adjustments; and the interactive simulation layer is closely coupled with the central decision-making layer, acquiring real-time data through a global IoT sensing network to synchronously monitor and visualize the location status of transport units and the task execution process, and triggering the replanning algorithm of the central decision-making layer when deviations are detected.

[0024] In step S101, as Figure 3As shown, this application, based on the central dispatch and management platform in the central decision-making layer, receives freight tasks from users, including those from the origin to the destination. It then initiates a dynamic modal selection and path joint optimization algorithm and collects real-time park status information. This real-time park status information includes path traffic status information (e.g., congestion levels of various road sections within the park), hub and equipment status information (e.g., the operational status of electromagnetic catapult transfer devices), real-time status information of transport units (e.g., cargo loading status), and park environment and task-related information (e.g., weather information). The received freight tasks, including standardized cargo containers, and the real-time park status information are processed through an objective optimization function to optimize each transport task. The task generates an optimal multimodal transport task chain, which includes multiple transport routes, handover nodes, and corresponding heterogeneous transport capacity units. The generation of the central dispatch management platform not only requires determining different types of transport units and their routes, but also ensuring seamless handover between each transport capacity unit. Based on the needs of the transport order, the central dispatch management platform considers multiple factors, including geographical location, transport capacity, and transport timeliness, and generates multiple candidate transport modes. For each transport mode, the central dispatch management platform uses a joint path optimization algorithm to select the optimal path, where the selection of transport capacity units is based on the needs of the transport route and the actual situation of available resources. In a specific implementation of step S101, one embodiment is as follows: the central decision-making layer processes the received freight tasks, including standardized cargo containers and real-time park status information, through an objective optimization function, including: S1011. Extract various information about the freight task, and construct the target optimization function based on the various information and the real-time park status information; S1012. Based on the objective optimization function, solve for the optimal multimodal transport task chain for the freight task.

[0025] In steps S1011-S1012, the central dispatch management platform of this application extracts various information from the freight task. This information includes basic attribute information, timeliness requirement information, capacity matching information, and handover constraint information. The basic attribute information includes the coordinates of the origin and destination of the goods, the weight / volume / quantity of the goods (adapting to standardized cargo box specifications), and the type of goods (e.g., fragile items, precision parts, etc., requiring special transportation). The timeliness requirement information includes the latest delivery time, the total allowed transportation time, and timeliness thresholds for key nodes (e.g., handover, sorting). The capacity matching information includes preset callable heterogeneous capacity unit types (drones / unmanned vehicles), capacity unit load / endurance limits, and special transportation vehicle adaptation requirements (e.g., dedicated take-off and landing requirements for fixed-wing drones). The handover constraint information includes the maximum allowed number of handover nodes, specific handover hub preferences (e.g., hubs near the destination), and handover operation time limits (e.g., avoiding high-load periods at hubs). The platform also sets the capacity unit... The transportation route is The time consumption of this path is Based on real-time information about the park's status, the platform uses formula (1) to solve for the optimal path: (1); in, This represents the total number of transport capacity units. It is a transportation capacity unit In the path Time consumption on This is the total path length of the entire task chain. The optimization objective is to minimize transportation time and ensure that the sum of the paths taken by all capacity units equals the total path length of the entire task chain. The objective function dynamically adjusts the selection of each route to optimize the timeliness and capacity requirements of each route during transportation. After determining the route segments for the transport units, the central dispatch management platform further considers the cargo handover issue between different transport units. The selection of each handover node and the handover method need to be precisely coordinated to ensure that every handover during the transportation process can be completed efficiently and without loss. To optimize the handover process, the central dispatch management platform uses an optimization algorithm based on space and time scheduling to set the handover nodes. The position is The time limit for handover is And the spatiotemporal matching of the handover is adjusted using the following optimization formula (2): (2); in, The number of handover nodes. handover node Location, This refers to the handover time of this node. It is the time interval for handover, ensuring that all handovers occur within the predetermined time period. By optimizing the time and space resources for handover, the handover process is not subject to time or space conflicts, thereby ensuring the smooth progress of the task chain. The objective optimization function composed of the above formulas (1) and (2) is used to calculate and generate an optimal multimodal transport task chain containing multiple transport routes and handover nodes. The task chain clearly specifies the routes and handover points of each transport unit, as well as the usage requirements of the handover devices. In particular, when the handover node involves an electromagnetic catapult handover device, it is ensured that the usage time of the device does not conflict with the route arrangement. After the task chain is generated, the central dispatch management platform allocates the corresponding time and space passage rights and the usage time of the electromagnetic catapult device to each route segment and handover node.

[0026] In step S102, after obtaining the optimal multimodal transport task chain, the central dispatch management platform of the central decision-making layer of this application reserves corresponding path resources for multiple transport path segments in the optimal multimodal transport task chain. The path resources include time and space passage rights and handover time periods for electromagnetic catapult handover devices in handover nodes. For each transport path segment in the multimodal transport task chain, the central dispatch management platform, based on the aforementioned task chain information, such as the path segments of each transport unit... and corresponding delivery time By combining real-time park status and resource availability, the required spatiotemporal right-of-way for this path segment is calculated. This ensures that each path segment does not conflict with other path segments within a specific time and space range, such as... Figure 4 As shown, these reservations for time and space access rights will be linked to the usage periods of the electromagnetic catapult handover device. Mutual coordination, for each handover node The central dispatch and management platform will determine the handover position in the task chain. The available time window for the handover device is calculated and reserved. The selection of this time slot must ensure that the electromagnetic catapult handover device can efficiently and conflict-free serve all handover nodes in the multimodal transport task chain during the handover process, thereby avoiding time overlaps or resource conflicts. By combining the time and space access rights of all transport route segments with the handover device usage time slots of the handover nodes, the central dispatch management platform generates a conflict-free scheduling schedule. This scheduling schedule precisely arranges the usage time slots of each transport unit and handover device, and is distributed to the relevant transport units and intelligent handover hubs to ensure that each node can execute smoothly according to the predetermined time. This allows the first navigation instruction to be sent to the first transport unit in the heterogeneous transport units transporting the standardized cargo container. The first navigation instruction is generated based on relevant information about the first transport unit in the scheduling schedule and includes a first path. and the first time limit The system guides the cargo to a designated intelligent handover hub. The physical execution layer includes a first capacity unit with heterogeneous transport capacity units, as well as a second capacity unit. The central dispatch management platform also sends a second navigation instruction to the second capacity unit, which is about to take over the next transport task. This second navigation instruction is generated based on relevant information about the second capacity unit in the dispatch schedule and includes a second path. and the second time limit These instructions guide the two transport units to their corresponding docking positions at the same intelligent handover hub when they are empty. The goal of these instructions is to ensure, through precise route planning and time limit control, that the two transport units can arrive and accurately dock at the predetermined launch and receiving positions of the electromagnetic catapult handover device within the same scheduled handover time period.

[0027] The heterogeneous transport capacity units include unmanned aerial vehicles (UAVs) in the first capacity unit and unmanned vehicles in the second capacity unit. The UAVs further include multiple sets of terminal multi-rotor UAVs. These terminal multi-rotor UAVs, as one of the core transport capacity units of the physical execution layer, primarily undertake short-to-medium distance transport tasks between building clusters, as well as vertical transport needs between rooftop platforms and ground stations, possessing the advantage of flexible and maneuverable flight. These UAVs support autonomous navigation and precise docking. Based on instructions issued by the central decision-making level, they can autonomously fly into specific windows of the park's centralized sorting warehouse to complete cargo loading, or dock at dedicated take-off and landing points to achieve cargo handover. Their operational process seamlessly coordinates with the electromagnetic catapult handover device of the intelligent handover hub and the warehouse's automated sorting system, ensuring efficient connection between short-to-medium distance transport and vertical transport links, further improving the end-of-line transport capacity coverage of the multimodal transport task chain.

[0028] In a specific implementation of step S102, one embodiment is as follows: the central decision-making layer reserves the corresponding path resources for the multiple transportation path segments, including: S1021. Calculate the corresponding spatiotemporal right-of-way and determine the corresponding handover nodes for the multiple transportation path segments respectively; S1022. Based on the spatiotemporal access rights and handover nodes, reserve the handover time periods of the spatiotemporal access rights and the electromagnetic catapult handover devices in the handover nodes respectively, so as to generate a scheduling schedule.

[0029] In steps S1021-S1022, this application generates spatiotemporal access rights from both time and spatial dimensions through a central dispatch management platform. The time dimension involves calculating the estimated travel time of a path segment by combining path length and real-time travel speed, and then determining the allowed passage time window for the path segment based on the overall timeliness requirements of the task chain. The spatial dimension involves specifying the concrete physical route of the path segment, such as the aerial flight path of a drone or the ground road of an unmanned vehicle, excluding prohibited areas, and ensuring that the route does not overlap or conflict with other path segments. The generated spatiotemporal access rights are unique spatiotemporal access rights certificates corresponding to each transport path segment, including path identifier, transport unit ID, allowed passage time window, and specific travel route. This ensures that the transport unit exclusively occupies the right of passage on the route within the specified time, avoiding conflicts with other transport units. Based on the determined handover nodes in the optimal multimodal transport task chain, which are also the algorithm-optimized intelligent handover hubs, the electromagnetic catapult handover devices equipped on these nodes are associated. One node can be configured with one or more devices. Real-time park status information is used to obtain... The system retrieves the reserved time slots and operational status (whether they are normal and available) of each electromagnetic catapult handover device at the target handover node, excluding devices that are already occupied or malfunctioning. Based on the spatiotemporal access rights of the first and second transport units that are connected before and after, it reverse-engineers the optimal handover time and reserves the electromagnetic catapult handover device that is suitable for the optimal handover time at the handover node. The system locks the aforementioned handover time slot and generates a handover reservation certificate, which includes the handover node ID, device ID, reserved handover time slot, and connecting transport unit ID, ensuring that the device is used exclusively during the handover without resource competition. The system also collects the spatiotemporal access rights certificates for all transport path segments and the handover reservation certificates for all handover nodes. According to the task chain execution order, such as the first transport unit driving, handover, and the second transport unit driving, the system checks whether there are potential conflicts such as the same device being reserved by multiple handover tasks, the same path segment being occupied by multiple transport units, or the handover time slot not matching the arrival time of the transport unit. If there is a conflict, the system fine-tunes the handover time slot or path passage time window and generates the aforementioned scheduling timetable with the time axis as the core.

[0030] In a specific implementation of step S1022, one embodiment is as follows: generating a scheduling schedule, including: S10221. After determining the transportation route segment, select the handover node on this transportation route segment from multiple candidate handover nodes based on a preset optimization algorithm; S10222. Adjust the handover time period of the handover node according to the path time consumption, so as to integrate the transportation path segment, handover node, and handover time period to generate a scheduling schedule.

[0031] In steps S10221-S10222, the candidate handover nodes described in this application are all pre-deployed intelligent handover hubs, equipped with electromagnetic catapult handover devices and connection conditions (such as take-off and landing fields, connection points) suitable for heterogeneous transportation units (drones, unmanned vehicles). The central dispatch and management platform calculates the connectivity between each candidate node and the current transportation route segment, such as whether the node is located at the optimal connection position between the end point of the preceding transportation unit and the starting point of the following transportation unit, and whether it avoids congested road sections. Combined with real-time park status information, the platform checks the idle status of the electromagnetic catapult devices of the candidate nodes. To avoid congestion around the handover node, the platform uses a weighted fusion method to select the node with the highest comprehensive score as the handover node for the current route segment. Based on the length of the current transport route segment and the real-time traffic speed, the estimated arrival time of the preceding and following transport units is calculated. The later arrival time is used as the handover start time. To ensure that both transport units arrive accurately within the specified time, the platform first adjusts the route according to the time limit information in the scheduling schedule, setting the arrival times of the two transport units as follows: and And according to the scheduled time period of the handover device Time coordination is achieved through the following formula (3): (3); in, To allow for time deviations, specifically the time delay between the start and stop of the electromagnetic catapult handover device, it is ensured that the first and second transport units arrive successively within the handover period, avoiding handover conflicts caused by time mismatch. The purpose of the above calculation is to ensure that the arrival times of the two transport units are accurately coordinated within the predetermined time window, thereby enabling a smooth handover process. It is also checked whether the adjusted handover period conflicts with the scheduled time of the target handover node. If there is a conflict, the time period is finely adjusted (with a fluctuation of no more than 1 minute) or the second-best candidate node is re-selected. In this way, the transport path segment, handover node, and handover period are integrated to generate a conflict-free and highly adaptable global scheduling schedule.

[0032] In step S103, the first transport unit of the physical execution layer of this application executes the first navigation command to transport the standardized cargo box so that it and the second transport unit are located at the handover node together during the handover period. The goal of these commands is to enable the first transport unit and the second transport unit to arrive at the handover node one after another through precise path planning and time limit control, and to accurately dock at the predetermined launch and receiving positions of the electromagnetic catapult handover device at the handover node during the handover period. At this time, the handover of the standardized cargo box needs to be carried out, so the intelligent hub layer is triggered to start the electromagnetic catapult handover device in the intelligent hub layer to carry out the contactless high-speed handover of the standardized cargo box.

[0033] In a specific implementation of step S103, one embodiment is as follows: the first transport unit executes the first navigation command to transport the standardized cargo container, so that it is located at the handover node together with the second transport unit, including: S1031. Obtain the path length of each transport unit in its transport route segment, the corresponding real-time traffic status, and the preset arrival time on the scheduling schedule. S1032. Adjust the driving speed of each transportation unit according to the path length, traffic conditions and preset arrival time.

[0034] In steps S1031-S1032, this application acquires the real-time driving speed of each transportation unit in the physical execution layer through the interactive simulation layer and feeds it back to the central dispatch management platform. The central dispatch management platform also needs to adjust the driving speed of each transportation unit according to the route planning results and traffic conditions, setting the driving speed of each transportation unit as... Taking into account traffic restrictions and route length, the central dispatch and management platform adjusts the speed according to the target arrival time. To ensure that the time limit requirement is met, the speed adjustment target is achieved through the following formula (4): (4); in, It is a transportation capacity unit In the path Total driving distance on the road This is the corresponding time limit. The optimization formula ensures that each transport unit can complete the transport task within the specified time by adjusting the speed of each transport unit. By dynamically adjusting the driving speed to adapt to complex traffic and route conditions, it ensures that the transport unit can arrive at the handover node on time and perform the handover task.

[0035] In step S104, after the intelligent hub layer of this application is triggered, that is, when the first and second transport units confirm that they are located at the predetermined positions of the electromagnetic catapult handover device and the system time enters the predetermined handover time period, the control system within the intelligent handover hub is triggered. The control system physically fixes the standardized cargo box on the first transport unit and the cargo pallet on the second transport unit respectively. The control system activates the electromagnetic catapult handover device, using precisely controlled electromagnetic force to achieve contactless accelerated ejection of the standardized cargo box from the cargo hold of the first transport unit within milliseconds, and it slides at high speed along a predetermined track. Finally, the electromagnetic buffer device in the cargo hold of the second transport unit accurately and smoothly captures and locks it, completing the high-speed, damage-free transfer of the standardized cargo box. Figure 5As shown, the platform sends a confirmation signal to the central decision-making layer, updates the status of the optimal multimodal transport task chain, marks the current handover node as completed, and issues navigation instructions for the subsequent transport route segment to the second transport unit, enabling it to continue executing the transport task to the final destination. Simultaneously, the central dispatch management platform releases the time and space resources of the previous transport route reserved by the first transport unit, as well as the electromagnetic catapult handover device resources occupied by this handover. Figure 6 As shown, during the entire process, the central dispatch and management platform monitors the location and status of each transportation unit in real time through the park-wide IoT sensing network in the interactive simulation layer. If a deviation between the actual execution and the planned schedule is detected or an unexpected obstacle is encountered, the platform will immediately re-invoke the dynamic modal selection and path joint optimization algorithm and the task allocation algorithm based on spatiotemporal resource reservation to perform local replanning and resource re-reservation for the transportation path segments and handover nodes that have not yet been executed, generate adjustment instructions and issue them to ensure the final completion of the entire optimal multimodal transport task chain.

[0036] In a specific implementation of step S104, one embodiment is as follows: a contactless, high-speed transfer of standardized cargo containers from the first transport unit to the second transport unit is achieved via an electromagnetic catapult transfer device on the intelligent hub layer, including: S1041. Real-time acquisition of speed data, acceleration data, and weight data of the standardized cargo box during the transfer process; S1042. Based on the speed data, weight data, and acceleration data, control the electromagnetic buffer device to generate a buffering force to assist the electromagnetic catapult transfer device in transferring the standardized cargo box.

[0037] In steps S1041-S1042, to ensure the accuracy of the electromagnetic catapult handover process, the central dispatch and management platform performs real-time control and optimization of the electromagnetic catapult process, which requires calculating the acceleration of the standardized cargo box. To ensure that it does not exceed safety limits during acceleration and can accurately reach the predetermined trajectory, the acceleration driven by electromagnetic force is calculated using formula (5): (5); in, It is acceleration under the action of electromagnetic force. It is the quality of standardized cargo boxes, electromagnetic force The control system adjusts in real time based on the current electromagnetic field strength and the driving capability of the electromagnetic device. These are the known parameters of the standardized cargo box. The above calculations ensure that the electromagnetic catapult provides appropriate acceleration during the catapult process, enabling the cargo box to complete high-speed transfer in the shortest possible time without damaging the goods. During electromagnetic catapult launch, the speed of the standardized cargo container As time progresses, the central dispatch and management platform needs to ensure that the speed does not exceed the set maximum safe speed when approaching the destination. To achieve this goal, the velocity-time relationship expressed by formula (6) is used to precisely control the change in electromagnetic force: (6); in, Indicates the time of the cargo container speed within, The acceleration is controlled by the aforementioned electromagnetic force. This formula ensures that the speed of the standardized cargo box remains within a controllable range during the ejection process and can accurately reach the receiving position of the second transport unit. The electromagnetic catapult handover device, electromagnetic buffer device and its control system, along with various other configuration modules, constitute the electromagnetic buffer system. The function of the electromagnetic buffer device is to smoothly receive and lock the high-speed sliding standardized cargo box; therefore, its buffering force... It must be matched with the kinetic energy of the standardized cargo container to ensure that the container can stop smoothly. The force of the electromagnetic buffer device is calculated using the following formula: ; in, It is the buffer distance of the electromagnetic buffer device. It's the speed of the cargo box. The quality of the cargo container is ensured through the above calculations, guaranteeing that the buffer device can provide sufficient deceleration force during cargo container reception, allowing the cargo container to stop smoothly without damage. Throughout the entire electromagnetic catapult handover process, through precise control of acceleration, speed, and buffer force, the electromagnetic catapult device achieves high-speed, damage-free transfer of goods and ensures a smooth and efficient handover process.

[0038] In a specific implementation of step S1042, one embodiment is as follows: the electromagnetic catapult transfer device transfers the standardized cargo container, including: S10421. Identify the standardized cargo box being transported by the first transport unit, and after identification, transfer the standardized cargo box to a pre-configured electromagnetic catapult handover device. S10422. Based on the electromagnetic catapult transfer device, the standardized cargo box is transferred from the first transport unit to the second transport unit.

[0039] In steps S10421-S10422, the intelligent transfer hub set up in the intelligent hub layer of this application also includes a centralized sorting warehouse in the park. The sorting warehouse is equipped with a fixed-wing UAV take-off and landing field and a ground unmanned vehicle docking port. In the specific transfer process, after the multi-rotor UAV corresponding to the first transportation unit drives into the designated window of the warehouse with cargo, the standardized cargo box loaded with goods will be identified by the automatic sorting system, that is, the identity of the standardized cargo box will be verified to determine that the transported standardized cargo box corresponds to the freight task, and then it will be assigned to the corresponding slot by conveyor belt or robot. The slot has a pre-set... The configured electromagnetic catapult transfer device, which is deployed between the warehouse and the unmanned vehicle, or between the take-off and landing pad of the fixed-wing UAV and the transfer station, is used to achieve high-speed, lossless transfer of standardized cargo boxes between the cargo compartment of the unmanned vehicle and the warehouse loading port, or between different transport vehicles, in milliseconds. Based on the electromagnetic catapult transfer device, the standardized cargo boxes are transferred from the first transport unit to the second transport unit, so that the transfer of goods in the standardized cargo boxes between different transport units can be completed accurately and quickly, ensuring seamless connection and efficient flow during transportation.

[0040] Example 2 This application also provides a multimodal transport cargo handover management device, such as... Figure 7 The diagram shows a block diagram of a multimodal transport cargo handover management device. The functions implemented by this device correspond to the steps of executing a multimodal transport cargo handover management method on a terminal device as described above. This device can be understood as a server component including a processor. The multimodal transport cargo handover management device described in this application is applied to a management system, which includes a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer. The device includes: Processing module 701 is used by the central decision-making layer to process the received freight tasks including standardized cargo containers and real-time park status information through the objective optimization function, and generate an optimal multimodal transport task chain containing multiple transport routes, handover nodes and corresponding heterogeneous transport capacity units. The reservation module 702 is used by the central decision-making layer to reserve corresponding path resources for the multiple transportation path segments, and to generate a scheduling schedule after the reservation is completed, so as to send a first navigation instruction to the first transportation unit in the heterogeneous transportation unit that transports the standardized cargo box; the physical execution layer includes a second transportation unit in addition to the first transportation unit of the heterogeneous transportation unit. The transportation module 703 is used for the first transportation unit to execute the first navigation command to transport the standardized cargo box, so that it and the second transportation unit are located at the handover node together during the handover period, and trigger the intelligent hub layer; The transfer module 704 is used to transfer the standardized cargo box to the second transport unit at high speed without contact via the electromagnetic catapult handover device on the intelligent hub layer, and to send a completion confirmation signal to the central decision layer, and to monitor the transport process of the second transport unit in real time through the interactive simulation layer.

[0041] In one feasible implementation, the reservation module includes: The corresponding spatiotemporal right-of-way and corresponding handover nodes are calculated for the multiple transportation path segments respectively; Based on the spatiotemporal access rights and handover nodes, the handover time periods of the spatiotemporal access rights and the electromagnetic catapult handover devices in the handover nodes are reserved respectively to generate a scheduling schedule. In one feasible implementation, the reservation module further includes: After determining the transportation route segment, the handover node on this transportation route segment is set from multiple candidate handover nodes based on a preset optimization algorithm; The handover time period of the handover node is adjusted according to the path time consumption, so as to integrate the transportation path segment, handover node, and handover time period to generate a scheduling schedule.

[0042] In one feasible implementation, the transport module includes: Obtain the path length of each transport unit in its transport route segment, the corresponding real-time traffic status, and the preset arrival time on the scheduling schedule; The speed of each transport unit is adjusted based on the route length, traffic conditions, and preset arrival time.

[0043] In one feasible implementation, the transfer module includes: Real-time acquisition of speed, acceleration, and weight data of the standardized cargo box during the transfer process; Based on the speed data, weight data, and acceleration data, the electromagnetic buffer device is controlled to generate a buffering force to assist the electromagnetic catapult transfer device in transferring the standardized cargo box.

[0044] In one feasible implementation, the transfer module further includes: The system identifies the standardized cargo container being transported by the first transport unit and, after identification, transfers the standardized cargo container to a pre-configured electromagnetic catapult transfer device. Based on the electromagnetic catapult transfer device, the standardized cargo container is transferred from the first transport unit to the second transport unit.

[0045] In one feasible implementation, the processing module includes: Extract various types of information about the freight task, and construct the target optimization function based on the various types of information and the real-time park status information; Based on the objective optimization function, the optimal multimodal transport task chain for the freight task is solved.

[0046] Example 3 This application also provides an electronic device, such as Figure 8 As shown, it includes: a processor 801, a memory 802, and a bus 803. The memory 802 stores machine-readable instructions that can be executed by the processor 801. When the electronic device is running, the processor 801 and the memory 802 communicate through the bus 803. When the machine-readable instructions are executed by the processor 801, the steps of any one of the multimodal transport cargo handover management methods are performed.

[0047] Example 4 This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of any of the multimodal transport cargo handover management methods described herein.

[0048] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0049] The modules described as separate components may or may not be physically separate. The components shown as modules 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0050] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0051] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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, a platform server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0052] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A multimodal freight handover management method, characterized by, Applied to a management system, the management system comprising a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer, the method includes: The central decision-making layer processes the received freight tasks, including standardized cargo containers, and real-time park status information through an objective optimization function to generate an optimal multimodal transport task chain that includes multiple transport routes, handover nodes, and corresponding heterogeneous transport capacity units. The central decision-making layer reserves corresponding route resources for the multiple transportation route segments, and generates a scheduling schedule after the reservation is completed, so as to send a first navigation command to the first transportation unit in the heterogeneous transportation unit that transports the standardized cargo box; the physical execution layer includes a second transportation unit in addition to the first transportation unit of the heterogeneous transportation unit. The first transport unit executes the first navigation command to transport the standardized cargo box, so that it and the second transport unit are both located at the handover node during the handover period, and trigger the smart hub layer; The standardized cargo container is transferred to the second transport unit at high speed without contact via an electromagnetic catapult transfer device on the intelligent hub layer, and a completion confirmation signal is fed back to the central decision-making layer. The transportation process of the second transport unit is monitored in real time through the interactive simulation layer.

2. The method of claim 1, wherein, The central decision-making layer reserves the corresponding route resources for the multiple transportation route segments, including: The corresponding spatiotemporal right-of-way and corresponding handover nodes are calculated for the multiple transportation path segments respectively; Based on the spatiotemporal access rights and handover nodes, the handover time periods of the spatiotemporal access rights and the electromagnetic catapult handover devices in the handover nodes are reserved respectively to generate a scheduling schedule.

3. The method according to claim 2, characterized in that, Generate a scheduling schedule, including: After determining the transportation route segment, the handover node on this transportation route segment is set from multiple candidate handover nodes based on a preset optimization algorithm; The handover time period of the handover node is adjusted according to the path time consumption, so as to integrate the transportation path segment, handover node, and handover time period to generate a scheduling schedule.

4. The method according to claim 1, characterized in that, The first transport unit executes the first navigation command to transport the standardized cargo container, so that it is located at the handover node together with the second transport unit, including: Obtain the path length of each transport unit in its transport route segment, the corresponding real-time traffic status, and the preset arrival time on the scheduling schedule; The speed of each transport unit is adjusted based on the route length, traffic conditions, and preset arrival time.

5. The method according to claim 1, characterized in that, The contactless, high-speed transfer of standardized cargo containers from the first transport unit to the second transport unit via an electromagnetic catapult transfer device on the intelligent hub layer includes: Real-time acquisition of speed, acceleration, and weight data of the standardized cargo box during the transfer process; Based on the speed data, weight data, and acceleration data, the electromagnetic buffer device is controlled to generate a buffering force to assist the electromagnetic catapult transfer device in transferring the standardized cargo box.

6. The method according to claim 5, characterized in that, The electromagnetic catapult transfer device transfers the standardized cargo container, including: The system identifies the standardized cargo container being transported by the first transport unit and, after identification, transfers the standardized cargo container to a pre-configured electromagnetic catapult transfer device. Based on the electromagnetic catapult transfer device, the standardized cargo container is transferred from the first transport unit to the second transport unit.

7. The method according to claim 1, characterized in that, The central decision-making layer processes the received freight tasks, including standardized cargo containers, and real-time park status information through an objective optimization function, including: Extract various types of information about the freight task, and construct the target optimization function based on the various types of information and the real-time park status information; Based on the objective optimization function, the optimal multimodal transport task chain for the freight task is solved.

8. A multimodal transport cargo handover management device, characterized in that, The device is applied to a management system, which includes a physical execution layer, an intelligent hub layer, a central decision-making layer, and an interactive simulation layer. The processing module is used by the central decision-making layer to process the received freight tasks including standardized cargo containers and real-time park status information through the objective optimization function, and generate an optimal multimodal transport task chain containing multiple transport routes, handover nodes and corresponding heterogeneous transport capacity units. The reservation module is used by the central decision-making layer to reserve corresponding path resources for the multiple transportation path segments, and generate a scheduling schedule after the reservation is completed, so as to send a first navigation command to the first transportation unit in the heterogeneous transportation capacity unit that transports the standardized cargo box; the physical execution layer includes a second transportation unit in addition to the first transportation unit of the heterogeneous transportation capacity unit. The transportation module is used by the first transportation unit to execute the first navigation command to transport the standardized cargo box, so that it and the second transportation unit are located at the handover node together during the handover period, and trigger the intelligent hub layer; The transfer module is used to transfer the standardized cargo container to the second transport unit at high speed without contact via the electromagnetic catapult handover device on the intelligent hub layer, and to send a completion confirmation signal back to the central decision-making layer, and to monitor the transportation process of the second transport unit in real time through the interactive simulation layer.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of a multimodal transport cargo handover management method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of a multimodal transport cargo handover management method as described in any one of claims 1 to 7.

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