CN110263983A - Double-layer path planning method and system for logistics distribution of vehicles and unmanned aerial vehicles - Google Patents
Double-layer path planning method and system for logistics distribution of vehicles and unmanned aerial vehicles Download PDFInfo
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Abstract
The embodiment of the invention provides a double-layer path planning method for logistics distribution of vehicles and unmanned aerial vehicles, which comprises the following steps: establishing a vehicle distribution main path for distributing all customer nodes needing to be distributed in an area by vehicles; according to the vehicle distribution direction, sequentially judging whether the cost for replacing each customer node which can be distributed by the unmanned aerial vehicle on the main vehicle distribution path by the unmanned aerial vehicle is lower than the cost before replacement or not, if so, replacing the customer node by the unmanned aerial vehicle for distribution, and forming an unmanned aerial vehicle accompanying route; and repeating the previous step until the replaceable cost-saving customer nodes cannot be found on the current vehicle distribution path, and taking the current vehicle distribution main path and each unmanned aerial vehicle companion flight sub-route as a vehicle and unmanned aerial vehicle double-layer path. According to the technical scheme, on the basis of the vehicle distribution main path, the cost is saved to the greatest extent by replacing vehicle customers with unmanned aerial vehicle customers, and the path planning can be carried out quickly and efficiently.
Description
Technical field
The present invention relates to logistics distribution fields, and in particular to a kind of double-deck path planning of vehicle and unmanned plane logistics distribution
Method and system.
Background technique
In recent years, booming e-commerce promotes the rapid development of delivery industry.Customer wishes done through network
Package can be received in a couple of days after shopping, but traditional means of distribution based on surface car is difficult to meet customer increasingly
The dispatching demand of growth and time requirement rapidly and efficiently.Vehicle will receive the ground such as the existing infrastructure in ground and road, river
The limitation of Environment Obstacles is managed, this will greatly increase distribution time and operation cost.And a large amount of surface car comes to urban belt
Traffic jam, the atmosphere pollution of generation is also not environmentally.These problems promote people to find matching for highly efficient environmental protection low cost
Mode is sent, and turns to unmanned plane dispatching.
Due to automating the fast development with artificial intelligence technology, unmanned plane dispatching has become possibility.On the one hand, nobody
Machine can not consider earth bulging and traffic condition, directly fly to corresponding posting address, thus substantially reduce transportation cost and
Time.On the other hand, unmanned plane is more environmentally friendly, and the air pollution of generation is less.These are recognized there are many company at present
Advantage, the unmanned plane that begins one's study dispense problem.However, man-machine cruise duration is short, load-carrying ability is low, the flight time is limited, can only
Small packet is carried, these characteristics cause the dispatching for completing all packages using unmanned plane to be not optimal selection.
In view of practical difficulty, vehicle and unmanned plane have respective limitation and advantage.However, if vehicle and unmanned plane
Coordinated, complementation of the two on functional characteristic can bring big advantage in practical applications.Firstly, surface car row
Distance is sailed, delivered payload capability is strong, both can be used as mobile warehouse, loads a large amount of packages, and can be used as the mobile base of unmanned plane
It stands, substantially increases effective delivery range of unmanned plane.In addition, unmanned plane limited by traffic above-ground it is smaller, it is difficult in some vehicles
With the area of arrival, such as some traffic congestions or the place having inconvenient traffic, what can be showed is more preferable.It continues a journey for unmanned plane
Time shorter problem can be recycled by replacing battery or charging in vehicle.
The double-deck routing issue (2E-RP-T&D) cooperateed in the prior art for vehicle and unmanned plane, firstly, to vehicle institute
Possible oriented main shipping track is enumerated, and set R is obtained.For every main shipping track r (r ∈ R), to all adjoint sub- course lines into
Row is enumerated, and obtains the optimal sub- course line of unmanned plane by solving model.Then vehicle is calculated according to model and unmanned plane is overall
The optimal solution of cost minimization.But this method can only solve the problems, such as considerably less correspondent node.This is because 2E-RP-
T&D is nondeterministic polynomial NP-hard, because it summarises other known NP-hard problems, such as the vehicle road of capacity limit
Diameter problem (CVRP).With the increase of case scale, the exploration in solution space will become more difficult, it means that a large amount of
The problem of can not be solved by dual stage process.Therefore, it is necessary to develop efficient heuritic approach.
Summary of the invention
The embodiment of the present invention provides the double-deck paths planning method and system of a kind of vehicle and unmanned plane logistics distribution, in vehicle
Dispatching main path on the basis of, save cost to greatest extent by the way that vehicle customer is replaced with unmanned plane customer, can be fast
Speed efficiently carries out path planning.
In order to achieve the above objectives, on the one hand, the embodiment of the invention provides pairs of a kind of vehicle and unmanned plane logistics distribution
Layer paths planning method, which comprises
Establish the vehicle delivery main path dispensed by vehicle to all correspondent nodes for needing to dispense in region；
According to vehicle delivery direction, successively judge to dispense each on vehicle delivery main path by unmanned plane
Correspondent node replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if so, by the correspondent node
It replaces with and is dispensed by unmanned plane, form a unmanned plane accompanying flying sub-route；
Previous step is repeated, determines whether the correspondent node on vehicle delivery main path can replace with and is dispensed by unmanned plane,
Until replaceable and save the cost correspondent node can not be found on current vehicle Distribution path, current vehicle is dispensed into main path
And double-deck path of each unmanned plane accompanying flying sub-route as vehicle and unmanned plane logistics distribution on vehicle delivery main path.
On the other hand, the embodiment of the invention provides the double-deck path planning systems of a kind of vehicle and unmanned plane logistics distribution
System, the system comprises:
Main path establishes unit: being dispensed to all correspondent nodes for needing to dispense in region for establishing by vehicle
Vehicle delivery main path；
Judging unit: for according to vehicle delivery direction, successively judging can be by by each on vehicle delivery main path
The correspondent node that unmanned plane is dispensed replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if so,
Then the correspondent node is replaced with and is dispensed by unmanned plane, a unmanned plane accompanying flying sub-route is formed；
Path determining unit: for repeating previous step, determine whether the correspondent node on vehicle delivery main path can replace
It is changed to and is dispensed by unmanned plane, until replaceable and save the cost correspondent node can not be found on current vehicle Distribution path, it will
Current vehicle dispenses each unmanned plane accompanying flying sub-route on main path and vehicle delivery main path as vehicle and unmanned plane object
Flow the double-deck path of dispatching.
Above-mentioned technical proposal has the following beneficial effects: that the mixing is heuristic based on " vehicle first, unmanned plane the second "
The thought of (Truck First, Drone Second) combines the building of vehicle delivery main path with strategy is saved.It is first
First, an oriented backbone is established, enables the vehicle to access all correspondent nodes.Then using maximum cost savings
Some vehicle nodes are replaced with unmanned plane node by thought, so that the adjoint sub-route collection of unmanned plane is obtained, so as to quick
Outbound path solution is obtained, and saves cost to greatest extent by the way that vehicle customer is replaced with unmanned plane customer.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of the double-deck paths planning method of a kind of vehicle of the embodiment of the present invention and unmanned plane logistics distribution；
Fig. 2 is the structural representation of the double-deck path planning system of a kind of vehicle of the embodiment of the present invention and unmanned plane logistics distribution
Figure；
Fig. 3 is that accompanying flying sub-route generates schematic diagram in one embodiment of the invention situation 1；
Fig. 4 is that accompanying flying sub-route generates schematic diagram in one embodiment of the invention situation 2.1；
Fig. 5 is that accompanying flying sub-route generates schematic diagram in one embodiment of the invention situation 2.2；
Fig. 6 is that accompanying flying sub-route generates schematic diagram in one embodiment of the invention situation 3；
Fig. 7 is customer distribution map of the embodiment of the present invention within the scope of the dispatching in a practical application；
Fig. 8 is the double-deck path profile that the embodiment of the present invention obtains in a practical application.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, being the double-deck paths planning method of a kind of vehicle of the embodiment of the present invention Yu unmanned plane logistics distribution
Flow chart, which comprises
S101: the vehicle delivery main road dispensed by vehicle to all correspondent nodes for needing to dispense in region is established
Diameter；
Using warehouse as starting point, by close on point search establish by vehicle to all correspondent nodes for needing to dispense in region into
The vehicle delivery main path of row dispatching.Based on " vehicle first, unmanned plane the second " (Truck First, Drone Second)
Thought, will close on point search and saving strategy combines.Firstly, using point search (Nearest Neighbor is closed on
Search, NNS) an oriented backbone is established, it enables the vehicle to access all correspondent nodes.
Point of proximity searching algorithm is a kind of famous construction searching algorithm, is the side of the solution traveling salesman problem proposed earliest
One of method.The vehicle route for accessing all customer's points is constructed using point of proximity searching algorithm.The algorithm selects next every time
A nearest non-accessed node, until all nodes are all accessed.The speed of service is fast, and the quality of the solution acquired largely takes
Certainly in the layout of correspondent node.
S102: according to vehicle delivery direction, successively judge by each on vehicle delivery main path can by unmanned plane into
Row dispatching correspondent node replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if so, by the Gu
Objective node is replaced with to be dispensed by unmanned plane, forms a unmanned plane accompanying flying sub-route；
After completing to close on point search, an oriented main road can be constructed by forming a customer list.Different customers'
Package weight is different.Some of them are to wrap up again, can only use vehicles drive, and other is light-duty package, can use nobody
Machine transports.For the light package in vehicle route, according to unmanned plane distribution capacity, the weight that dispenses cargo, dispatching distance and
The Cost comparisons for replacing front and back, if can be transported by unmanned plane, we will use unmanned plane to replace vehicles drive.Replacement process
It is that the save the cost strategy proposed according to Clarke and Wright (1964) carries out one by one.Saving algrithm is initially applied to vehicle
Routing problem (VRP), the purpose is to find the optimal path of all given customers.Its main thought is the limitation in vehicular load
Under, two lines road is combined into a route, is found maximum apart from reduction.Equally, the algorithm of this paper attempts by by vehicle
Customer replaces with unmanned plane customer to save cost to greatest extent.
In order to find most cost-saving customer's point in each replacement operation, according to previous customer and the latter customer
Means of distribution following several situations have been determined；
If the front and back ends correspondent node of the correspondent node 1, currently judged is the correspondent node by vehicle delivery, when
It is described when being judged as YES, which is replaced with and is dispensed by unmanned plane, a unmanned plane accompanying flying sub-route is formed；
As shown in figure 3, vehicle successively visits three correspondent nodes, what 2. an intermediate correspondent node was dispensed
Cargo is lighter, can be changed to unmanned plane according to unmanned plane distribution capacity, the weight of dispatching cargo, dispatching distance judgement by vehicle and send
Goods.Unmanned plane dispenses correspondent node and 2. returns to correspondent node 3. afterwards from correspondent node 1., generates new unmanned plane accompanying flying
Routing.So, the cost which is saved may be calculatedWherein,It is vehicle from customer
Node i (or warehouse i) to correspondent node j (or the running cost of warehouse j),For accompanying flying sub-route (1-2-3) flight at
This.
If front end or endpoint node of the correspondent node 2, currently judged as unmanned plane accompanying flying sub-route, in accompanying flying
In the case that unmanned plane in routing can dispense the correspondent node, if described when being judged as YES, by the correspondent node
The unmanned plane accompanying flying sub-route is added, forms a new unmanned plane accompanying flying sub-route；
2.1 as shown in figure 4, correspondent node on vehicle route 2. originally as the recycling of existing accompanying flying sub-route nobody
Machine end adds the end of accompanying flying routing now.1. correspondent node is dispensed by unmanned plane, correspondent node 2. with correspondent node 3.
It is successively dispensed by vehicle.In this case it is necessary to judge whether unmanned plane can service after completing correspondent node and 1. dispensing
Correspondent node is 2..In addition to the limitation of payload, the energy consumption needs of entire route are recalculated.If replacement is feasible, saving
Cost may be calculatedWhereinFor former accompanying flying sub-route (--- 1-2) flight at
This,For the flight cost for being added to the new accompanying flying sub-route of correspondent node 3..
2.2 as shown in figure 5, by a vehicle accessed node, i.e. the node that takes off of the adjoint subpath of unmanned plane, is added to
The starting point with subpath.2. correspondent node is accessed by vehicle, be the node that takes off of unmanned plane.If correspondent node 2. in
Package can be sent to by unmanned plane, and be added to the initial position with sub-route, then the cost saved may be calculated,WhereinThe flight cost of (2-3---) is routed for atom,For addition section
The flight cost of sub-route after putting 1..
If the correspondent node 3, currently judged is the tie point of two unmanned plane accompanying flying sub-routes, judging whether can be by the Gu
Objective node replaces with unmanned plane dispatching to merge two unmanned plane accompanying flying sub-routes, if so, the correspondent node is replaced with
Unmanned plane dispatching merges two unmanned plane accompanying flying sub-routes and forms a new unmanned plane accompanying flying sub-route.
As shown in fig. 6, merging the adjoint sub-route of two unmanned planes.As can be seen that 2. correspondent node is accessed by vehicle, vehicle
It is that the landing node (--- 1-2) of first accompanying flying sub-route and second accompanying flying sub-route take off node (- 2-3--).Such as
Fruit can merge into one with sub-route with sub-route for two, then the cost saved may be calculatedWhereinFor the flight cost of sub-route (--- 1-2),For son
The flight cost of (2-3--) is routed,For the flight cost of sub-route (-- 1-2-3---).
In above-mentioned several situations, can by the unmanned plane in the accompanying flying sub-route dispense correspondent node then include:
When unmanned plane in the accompanying flying sub-route completes original dispatching task, according to the load-carrying ability of the unmanned plane, additionally it is possible to it
Carry out the correspondent node of goods delivery.
S103: previous step is repeated, determines whether the correspondent node on vehicle delivery main path can replace with by unmanned plane
Dispatching dispenses current vehicle until can not find replaceable and save the cost correspondent node on current vehicle Distribution path
Bilayer of each unmanned plane accompanying flying sub-route as vehicle and unmanned plane logistics distribution on main path and vehicle delivery main path
Path.
According to the 4 of S102 kinds of situations, checks all nodes of vehicle access, calculate each possible node and saved
Cost, and will save the maximum node of cost replace with unmanned plane access.This calculating and replacement step are repeated, until not depositing
It still can not save the cost after the vehicle node or replacement that can be replaced, it means that the dispatching for changing customer cannot be passed through
Mode reduces totle drilling cost.
As shown in Fig. 2, being the double-deck path planning system of a kind of vehicle of the embodiment of the present invention Yu unmanned plane logistics distribution
Structural schematic diagram, the system comprises:
Main path establishes unit 21: being dispensed by vehicle to all correspondent nodes for needing to dispense in region for establishing
Vehicle delivery main path；
Judging unit 22: for successively judging each energy on vehicle delivery main path according to vehicle delivery direction
By the correspondent node that unmanned plane is dispensed replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if
It is that then the correspondent node is replaced with and is dispensed by unmanned plane, forms a unmanned plane accompanying flying sub-route；
Path determining unit 23: for repeating previous step, determine that the correspondent node on vehicle delivery main path whether can
It replaces with and is dispensed by unmanned plane, until replaceable and save the cost correspondent node can not be found on current vehicle Distribution path,
Current vehicle is dispensed into each unmanned plane accompanying flying sub-route on main path and vehicle delivery main path as vehicle and unmanned plane
The double-deck path of logistics distribution.
Further, the main path is established unit 21 and is specifically used for:
Using warehouse as starting point, by close on point search establish by vehicle to all correspondent nodes for needing to dispense in region into
The vehicle delivery main path of row dispatching.
Further, it in the judging unit 22, according to unmanned plane distribution capacity, dispenses the weight of cargo and dispenses road
Journey, the correspondent node that determination can be dispensed by the unmanned plane.
Further, the judging unit 22 is specifically used for:
If the front and back ends correspondent node of the correspondent node currently judged is the correspondent node by vehicle delivery, work as institute
It states when being judged as YES, which is replaced with and is dispensed by unmanned plane, a unmanned plane accompanying flying sub-route is formed；
If front end or endpoint node of the correspondent node currently judged as unmanned plane accompanying flying sub-route, on the sub- road of the accompanying flying
In the case where capable of being dispensed to the correspondent node by upper unmanned plane, if described when being judged as YES, which is added
Enter the unmanned plane accompanying flying sub-route, forms a new unmanned plane accompanying flying sub-route；
If the correspondent node currently judged is the tie point of two unmanned plane accompanying flying sub-routes, judging whether can be by the customer
Node replaces with unmanned plane dispatching to merge two unmanned plane accompanying flying sub-routes, if so, the correspondent node is replaced with nothing
Man-machine dispatching merges two unmanned plane accompanying flying sub-routes and forms a new unmanned plane accompanying flying sub-route.
Further, in the judging unit, the customer that can be dispensed by the unmanned plane in the accompanying flying sub-route
Node includes: after the unmanned plane in the accompanying flying sub-route completes original dispatching task, and the load-carrying ability of the unmanned plane can also
It is enough that goods delivery is carried out to the correspondent node.
According to the method for the present invention and system, firstly, according to actual road distance, vehicle selects every time from warehouse
It selects apart from nearest customer, until all packages are all sent to.When vehicle returns to warehouse, vehicle delivery main road is obtained
Diameter, and form the sequence list of a customer.The maximum customer's point of save the cost is then found according to this sequence.It is following every time
In ring, each vehicle customer point can be judged whether could alternatively be unmanned plane point.If it is then calculate reduction at
This.If one or more customers can be found, selects most cost-saving customer and change its means of distribution.If can not look for
To replaceable and save the cost customer's point, end loop simultaneously exports finally obtained two stage vehicle & unmanned plane solution.
Application example
Real case is constructed based on the practical road network in Changsha, and has carried out sensitivity analysis.As shown in fig. 7, in length
Shashi east city has chosen 95 main road intersections, is labelled with 30 correspondent nodes.By connecting these crossroads, formed
The network of highways of one vehicle driving.
Specifically, the latitude and longitude coordinates of crossroad are obtained by Baidu map.For the operating range of vehicle,
The tool provided using Baidu carries out practical section to generate initial distance matrix apart from calculating.Then it is obtained with Floyd algorithm
Shortest distance distance between any two intersection based on network of highways.Each customer is corresponding to wrap up and being randomly generated, institute
There is package weight, the ratio gently wrapped up is 95%.
According to the technical solution of the application, after neighbouring search constructs vehicle delivery main path, pass through cost savings original
Reason will can be replaced with unmanned plane dispatching by the correspondent node that unmanned plane replaces dispatching, and obtained path is as shown in Figure 8.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection scope for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This published method should be construed to reflect such intention, that is, the embodiment of theme claimed needs to compare
The more features of the feature clearly stated in each claim.On the contrary, as appended claims is reflected
Like that, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims
It is hereby expressly incorporated into detailed description, wherein each claim is used as alone the individual preferred embodiment of the present invention.
For can be realized any technical staff in the art or using the present invention, above to disclosed embodiment into
Description is gone.To those skilled in the art；The various modifications mode of these embodiments will be apparent from, and this
The General Principle of text definition can also be suitable for other embodiments on the basis of not departing from the spirit and scope of the disclosure.
Therefore, the disclosure is not limited to embodiments set forth herein, but most wide with principle disclosed in the present application and novel features
Range is consistent.
Description above includes the citing of one or more embodiments.Certainly, in order to describe above-described embodiment and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection scope in all such changes, modifications and variations.In addition, with regard to term used in specification or claims
The mode that covers of "comprising", the word is similar to term " includes ", just as " including " solved in the claims as transitional word
As releasing.In addition, the use of any one of specification in claims term "or" being to indicate " non-exclusionism
Or ".
Those skilled in the art will also be appreciated that the various illustrative components, blocks that the embodiment of the present invention is listed
(illustrative logical block), unit and step can by electronic hardware, computer software, or both knot
Conjunction is realized.For the replaceability (interchangeability) for clearly showing that hardware and software, above-mentioned various explanations
Property component (illustrative components), unit and step universally describe their function.Such function
It can be that the design requirement for depending on specific application and whole system is realized by hardware or software.Those skilled in the art
Can be can be used by various methods and realize the function, but this realization is understood not to for every kind of specific application
Range beyond protection of the embodiment of the present invention.
Various illustrative logical blocks or unit described in the embodiment of the present invention can by general processor,
Digital signal processor, specific integrated circuit (ASIC), field programmable gate array or other programmable logic devices, discrete gate
Or transistor logic, discrete hardware components or above-mentioned any combination of design carry out implementation or operation described function.General place
Managing device can be microprocessor, and optionally, which may be any traditional processor, controller, microcontroller
Device or state machine.Processor can also be realized by the combination of computing device, such as digital signal processor and microprocessor,
Multi-microprocessor, one or more microprocessors combine a digital signal processor core or any other like configuration
To realize.
The step of method described in the embodiment of the present invention or algorithm can be directly embedded into hardware, processor execute it is soft
The combination of part module or the two.Software module can store in RAM memory, flash memory, ROM memory, EPROM storage
Other any form of storaging mediums in device, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or this field
In.Illustratively, storaging medium can be connect with processor, so that processor can read information from storaging medium, and
It can be to storaging medium stored and written information.Optionally, storaging medium can also be integrated into the processor.Processor and storaging medium can
To be set in asic, ASIC be can be set in user terminal.Optionally, processor and storaging medium also can be set in
In different components in the terminal of family.
In one or more exemplary designs, above-mentioned function described in the embodiment of the present invention can be in hardware, soft
Part, firmware or any combination of this three are realized.If realized in software, these functions be can store and computer-readable
On medium, or it is transferred on a computer readable medium in the form of one or more instructions or code forms.Computer readable medium includes electricity
Brain storaging medium and convenient for so that computer program is allowed to be transferred to from a place telecommunication media in other places.Storaging medium can be with
It is that any general or special computer can be with the useable medium of access.For example, such computer readable media may include but
It is not limited to RAM, ROM, EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage devices or other
What can be used for carry or store with instruct or data structure and it is other can be by general or special computer or general or specially treated
The medium of the program code of device reading form.In addition, any connection can be properly termed computer readable medium, example
Such as, if software is to pass through a coaxial cable, fiber optic cables, double from a web-site, server or other remote resources
Twisted wire, Digital Subscriber Line (DSL) are defined with being also contained in for the wireless way for transmitting such as example infrared, wireless and microwave
In computer readable medium.The disk (disk) and disk (disc) includes compress disk, radium-shine disk, CD, DVD, floppy disk
And Blu-ray Disc, disk is usually with magnetic replicate data, and disk usually carries out optically replicated data with laser.Combinations of the above
Also it may be embodied in computer readable medium.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. the double-deck paths planning method of a kind of vehicle and unmanned plane logistics distribution, which is characterized in that the described method includes:
Establish the vehicle delivery main path dispensed by vehicle to all correspondent nodes for needing to dispense in region；
According to vehicle delivery direction, the Gu that can dispense each on vehicle delivery main path by unmanned plane is successively judged
Objective node replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if so, the correspondent node is replaced
To be dispensed by unmanned plane, a unmanned plane accompanying flying sub-route is formed；
Previous step is repeated, determines whether the correspondent node on vehicle delivery main path can replace with and is dispensed by unmanned plane, until
Replaceable and save the cost correspondent node can not be found on current vehicle Distribution path, and current vehicle is dispensed into main path and vehicle
Double-deck path of each unmanned plane accompanying flying sub-route as vehicle and unmanned plane logistics distribution on dispatching main path.
2. the double-deck paths planning method of vehicle as described in claim 1 and unmanned plane logistics distribution, which is characterized in that described
Establish the vehicle delivery main path of all correspondent nodes including needing to dispense in region, comprising:
Using warehouse as starting point, all correspondent nodes for needing to dispense in region are matched by vehicle by closing on point search and establishing
The vehicle delivery main path sent.
3. the double-deck paths planning method of vehicle as described in claim 1 and unmanned plane logistics distribution, which is characterized in that according to
Unmanned plane distribution capacity, the weight for dispensing cargo and dispatching distance, the correspondent node that determination can be dispensed by the unmanned plane.
4. the double-deck paths planning method of vehicle as described in claim 1 and unmanned plane logistics distribution, which is characterized in that described
According to vehicle delivery direction, successively judge to save each on vehicle delivery main path by the customer that unmanned plane dispenses
Point replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if so, by the correspondent node replace with by
Unmanned plane dispatching, forms a unmanned plane accompanying flying sub-route, comprising:
If the front and back ends correspondent node of the correspondent node currently judged is the correspondent node by vehicle delivery, sentence when described
When breaking to be, which is replaced with and is dispensed by unmanned plane, forms a unmanned plane accompanying flying sub-route；
If front end or endpoint node of the correspondent node currently judged as unmanned plane accompanying flying sub-route, in the accompanying flying sub-route
Unmanned plane the correspondent node can be dispensed in the case where, if described when being judged as YES, which is added should
Unmanned plane accompanying flying sub-route forms a new unmanned plane accompanying flying sub-route；
If the correspondent node currently judged is the tie point of two unmanned plane accompanying flying sub-routes, judging whether can be by the correspondent node
Unmanned plane dispatching is replaced with to merge two unmanned plane accompanying flying sub-routes, if so, the correspondent node is replaced with unmanned plane
Dispatching merges two unmanned plane accompanying flying sub-routes and forms a new unmanned plane accompanying flying sub-route.
5. the double-deck paths planning method of vehicle as claimed in claim 4 and unmanned plane logistics distribution, which is characterized in that described
Can include: by the correspondent node that the unmanned plane in the accompanying flying sub-route dispenses
After the unmanned plane in the accompanying flying sub-route completes original dispatching task, the load-carrying ability of the unmanned plane can also be to this
Correspondent node carries out goods delivery.
6. the double-deck path planning system of a kind of vehicle and unmanned plane logistics distribution, which is characterized in that the system comprises:
Main path establishes unit: for establishing the vehicle dispensed by vehicle to all correspondent nodes for needing to dispense in region
Dispense main path；
Judging unit: for according to vehicle delivery direction, successively judging can be by nobody by each on vehicle delivery main path
The correspondent node that machine is dispensed replace with by unmanned plane dispatching cost whether be lower than replacement before cost, if so, will
The correspondent node is replaced with to be dispensed by unmanned plane, forms a unmanned plane accompanying flying sub-route；
Path determining unit: for repeating previous step, determine whether the correspondent node on vehicle delivery main path can replace with
It is dispensed by unmanned plane, until replaceable and save the cost correspondent node can not be found on current vehicle Distribution path, it will be current
Each unmanned plane accompanying flying sub-route on vehicle delivery main path and vehicle delivery main path is matched as vehicle and unmanned plane logistics
The double-deck path sent.
7. the double-deck path planning system of vehicle as claimed in claim 6 and unmanned plane logistics distribution, which is characterized in that described
Main path is established unit and is specifically used for:
Using warehouse as starting point, all correspondent nodes for needing to dispense in region are matched by vehicle by closing on point search and establishing
The vehicle delivery main path sent.
8. the double-deck path planning system of vehicle as claimed in claim 6 and unmanned plane logistics distribution, which is characterized in that in institute
It states in judging unit, according to unmanned plane distribution capacity, dispenses the weight of cargo and dispense distance, determination can be carried out by the unmanned plane
The correspondent node of dispatching.
9. the double-deck path planning system of vehicle as claimed in claim 6 and unmanned plane logistics distribution, which is characterized in that described
Judging unit is specifically used for:
If the front and back ends correspondent node of the correspondent node currently judged is the correspondent node by vehicle delivery, sentence when described
When breaking to be, which is replaced with and is dispensed by unmanned plane, forms a unmanned plane accompanying flying sub-route；
If front end or endpoint node of the correspondent node currently judged as unmanned plane accompanying flying sub-route, in the accompanying flying sub-route
Unmanned plane the correspondent node can be dispensed in the case where, if described when being judged as YES, which is added should
Unmanned plane accompanying flying sub-route forms a new unmanned plane accompanying flying sub-route；
If the correspondent node currently judged is the tie point of two unmanned plane accompanying flying sub-routes, judging whether can be by the correspondent node
Unmanned plane dispatching is replaced with to merge two unmanned plane accompanying flying sub-routes, if so, the correspondent node is replaced with unmanned plane
Dispatching merges two unmanned plane accompanying flying sub-routes and forms a new unmanned plane accompanying flying sub-route.
10. the double-deck path planning system of vehicle as claimed in claim 9 and unmanned plane logistics distribution, which is characterized in that
In the judging unit, described can include: in accompanying flying by the correspondent node that the unmanned plane in the accompanying flying sub-route dispenses
After unmanned plane in routing completes original dispatching task, the load-carrying ability of the unmanned plane can also carry out goods to the correspondent node
Object dispatching.
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