CN114881579A - Method and device for determining distribution route - Google Patents
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Abstract
The disclosure relates to the technical field of path planning, and provides a method and a device for determining a distribution path. The method comprises the following steps: under the condition that the target delivery task is received, determining a target delivery position based on the target delivery task; acquiring a target initial position where a target accessory robot is located currently; judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library or not; when a first target distribution path exists, controlling the target accessory robot to execute a target distribution task based on the first target distribution path; and when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute a target distribution task based on the second target distribution path, and storing the second target distribution path into the historical distribution path library.
Description
Technical Field
The present disclosure relates to the field of path planning technologies, and in particular, to a method and an apparatus for determining a distribution path.
Background
In order to improve delivery efficiency of articles such as take-out and express delivery and liberate labor force, the accessory robot is widely applied to delivery fields such as take-out and express delivery. Each time the accessory robot receives a distribution task, a distribution path corresponding to the distribution task needs to be planned or navigated to generate, so that some time is delayed, and certain power consumption loss is caused.
In the course of implementing the disclosed concept, the inventors found that there are at least the following technical problems in the related art: the accessory efficiency of the accessory robot can be further improved and the power consumption can be further reduced.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method and an apparatus for determining a delivery path, an electronic device, and a computer-readable storage medium, so as to solve the problems in the prior art that the accessory efficiency of an accessory robot may be further improved and the power consumption may be further reduced.
In a first aspect of the embodiments of the present disclosure, a method for determining a delivery route is provided, including: under the condition that the target delivery task is received, determining a target delivery position based on the target delivery task; acquiring a target initial position where a target accessory robot is located currently; judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library or not; when a first target distribution path exists, controlling the target accessory robot to execute a target distribution task based on the first target distribution path; and when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute a target distribution task based on the second target distribution path, and storing the second target distribution path into the historical distribution path library.
In a second aspect of the embodiments of the present disclosure, there is provided a device for determining a delivery route, including: the receiving module is configured to determine a target delivery position based on the target delivery task under the condition that the target delivery task is received; the acquisition module is configured to acquire a target starting position where the target accessory robot is currently located; the judging module is configured to judge whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library; a first control module configured to control the target accessory robot to perform a target delivery task based on a first target delivery path when the first target delivery path exists; and the second control module is configured to plan a path based on the target delivery position and the target starting position to obtain a second target delivery path when the first target delivery path does not exist, control the target accessory robot to execute the target delivery task based on the second target delivery path, and simultaneously store the second target delivery path in the historical delivery path library.
In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.
In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: under the condition that the target delivery task is received, determining a target delivery position based on the target delivery task; acquiring a target initial position where a target accessory robot is located currently; judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library or not; when a first target distribution path exists, controlling the target accessory robot to execute a target distribution task based on the first target distribution path; and when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute a target distribution task based on the second target distribution path, and storing the second target distribution path into the historical distribution path library. By adopting the technical means, the problems that in the prior art, the accessory efficiency of the accessory robot can be further improved and the power consumption can be further reduced can be solved, so that the accessory efficiency of the accessory robot is improved, and the power consumption of the accessory robot is reduced.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a scenario diagram of an application scenario of an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for determining a distribution route according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a distribution path determining apparatus provided in an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
A method and apparatus for determining a dispensing path according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a scene schematic diagram of an application scenario of an embodiment of the present disclosure. The application scenario may include terminal devices 101, 102, and 103, server 104, and network 105.
The terminal devices 101, 102, and 103 may be hardware or software. When terminal devices 101, 102, and 103 are hardware, they may be various electronic devices having a display screen and supporting communication with server 104, including but not limited to smart phones, robots, laptop portable computers, desktop computers, and the like (e.g., 102 may be a robot); when the terminal apparatuses 101, 102, and 103 are software, they can be installed in the electronic apparatus as above. The terminal devices 101, 102, and 103 may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not limited by the embodiments of the present disclosure. Further, various applications, such as a data processing application, an instant messaging tool, social platform software, a search type application, a shopping type application, and the like, may be installed on the terminal devices 101, 102, and 103.
The server 104 may be a server providing various services, for example, a backend server receiving a request sent by a terminal device establishing a communication connection with the server, and the backend server may receive and analyze the request sent by the terminal device and generate a processing result. The server 104 may be a server, may also be a server cluster composed of a plurality of servers, or may also be a cloud computing service center, which is not limited in this disclosure.
The server 104 may be hardware or software. When the server 104 is hardware, it may be various electronic devices that provide various services to the terminal devices 101, 102, and 103. When the server 104 is software, it may be multiple software or software modules providing various services for the terminal devices 101, 102, and 103, or may be a single software or software module providing various services for the terminal devices 101, 102, and 103, which is not limited by the embodiment of the present disclosure.
The network 105 may be a wired network connected by a coaxial cable, a twisted pair and an optical fiber, or may be a wireless network that can interconnect various Communication devices without wiring, for example, Bluetooth (Bluetooth), Near Field Communication (NFC), Infrared (Infrared), and the like, which is not limited in the embodiment of the present disclosure.
The target user can establish a communication connection with the server 104 via the network 105 through the terminal devices 101, 102, and 103 to receive or transmit information or the like. It should be noted that the specific types, numbers and combinations of the terminal devices 101, 102 and 103, the server 104 and the network 105 may be adjusted according to the actual requirements of the application scenario, and the embodiment of the present disclosure does not limit this.
Fig. 2 is a schematic flow chart of a method for determining a distribution route according to an embodiment of the present disclosure. The method of determining the distribution path of fig. 2 may be performed by the terminal device or the server of fig. 1. As shown in fig. 2, the method for determining the distribution route includes:
s201, under the condition that the target delivery task is received, determining a target delivery position based on the target delivery task;
s202, acquiring a target initial position where the target accessory robot is located currently;
s203, judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library;
s204, when a first target distribution path exists, controlling the target accessory robot to execute a target distribution task based on the first target distribution path;
and S205, when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute the target distribution task based on the second target distribution path, and storing the second target distribution path in the historical distribution path library.
The target starting position is the address of the current location when the target accessory robot takes the accessory corresponding to the target distribution task, and the target distribution position is the destination corresponding to the target distribution task; the target delivery task is a task of delivering one or more accessories. And controlling the target accessory robot to execute the target delivery task based on the first target delivery path, namely, the target accessory robot reaches the target delivery position along the first target delivery path to complete the target delivery task. And storing the second target distribution path into a historical distribution path library, and if the starting position and the distribution position are both close to the second target distribution path next time, then the path is not required to be planned any more, and the second target distribution path can be directly obtained from the historical distribution path library.
According to the technical scheme provided by the embodiment of the disclosure, under the condition that the target delivery task is received, the target delivery position is determined based on the target delivery task; acquiring a target initial position where a target accessory robot is located currently; judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library or not; when a first target distribution path exists, controlling the target accessory robot to execute a target distribution task based on the first target distribution path; and when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute a target distribution task based on the second target distribution path, and storing the second target distribution path into the historical distribution path library. By adopting the technical means, the problems that in the prior art, the accessory efficiency of the accessory robot can be further improved and the power consumption can be further reduced can be solved, so that the accessory efficiency of the accessory robot is improved, and the power consumption of the accessory robot is reduced.
In step S203, determining whether or not a first target delivery route corresponding to the target delivery position and the target start position exists in the historical delivery route library includes: traversing the delivery paths in the historical delivery path library to judge whether the delivery paths of the route target delivery position and the target starting position exist in the historical delivery path library: if yes, determining a distribution path of the route target distribution position and the target starting position as a first target distribution path; if not, judging that the first target distribution path does not exist in the historical distribution path library; the historical distribution path library comprises a plurality of distribution paths.
For example, a certain distribution path in the historical distribution path library passes through a first site, a second site, a third site, a fourth site, a fifth site and a sixth site in sequence. If the target starting location is the second stop and the target delivery location is the fourth stop, then the delivery route may be determined to be the first target delivery route. The target delivery location and the target starting location are in a back-and-forth order in the delivery path without affecting the determination of the first target delivery path because the displacement is a vector and is independent of direction, e.g., the target starting location is the fourth stop and the target delivery location is the second stop, then the delivery path may still be determined to be the first target delivery path.
The plurality of delivery routes stored in the historical delivery route library may be generated by planning routes of the plurality of accessory robots.
If so, determining a delivery path of the route target delivery position and the target start position as a first target delivery path, including: if there are a plurality of delivery paths that pass through the target delivery location and the target start location: determining a distribution path with the highest evaluation score in distribution paths of a plurality of route target distribution positions and target starting positions as a first target distribution path; or determining a distribution route with the shortest time consumption in the distribution routes of the plurality of route target distribution positions and the target starting positions as a first target distribution route; or determining the distribution route which is used for the most times in the distribution routes of the route target distribution position and the target starting position as the first target distribution route.
The distribution paths stored in the historical distribution path library have corresponding evaluation scores. Each time the parts robot executes a delivery task based on a delivery path, after the delivery task is completed, the parts robot may score the delivery path, a higher score of the evaluation score indicates that the delivery path is more optimal, and factors affecting the evaluation score may include: time consumption, pedestrian flow, traffic flow, the number of red street lamps and the like.
The distribution paths stored in the historical distribution path library have corresponding time consumption. The accessory robot executes a delivery task based on the delivery path, and after the delivery task is completed, the consumed time is saved in a historical delivery path library.
The distribution paths stored in the historical distribution path library have corresponding use times. After the accessory robot adopts the distribution route each time, the number of times of use corresponding to the distribution route is increased by one.
In step S203, determining whether or not a first target delivery route corresponding to the target delivery position and the target start position exists in the historical delivery route library includes: determining a target distribution time period corresponding to the target distribution task; judging whether a first target distribution path corresponding to a target distribution position and a target starting position exists in a historical distribution path library in a target distribution time period; the historical distribution path library comprises a plurality of distribution paths.
Since the same delivery route has different pedestrian volume and traffic volume in different time periods, the same delivery route has different time consumption and experience in different time periods, and therefore, in order to improve the efficiency of delivering the robot parts, the time period for performing the target delivery task, that is, the target delivery time period, should be considered when determining the first target delivery route.
Judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library in the target distribution time period, wherein the judging step comprises the following steps: traversing the delivery paths in the historical delivery path library in the target delivery time period to judge whether the delivery paths of the route target delivery position and the target starting position exist in the historical delivery path library in the target delivery time period: if yes, determining a distribution path which is within the target distribution time period and passes through the target distribution position and the target starting position as a first target distribution path; if not, the first target delivery path does not exist in the historical delivery path library.
If so, determining a delivery path leading to the target delivery position and the target start position within the target delivery time period as a first target delivery path, including: determining a distribution path with the highest evaluation score in distribution paths of a plurality of route target distribution positions and target starting positions in a target distribution time period as a first target distribution path; or determining a distribution route which consumes the shortest time in distribution routes of a plurality of route target distribution positions and target initial positions in a target distribution time period as a first target distribution route; or determining a delivery route which is used for the most times in the delivery routes which are routed to the target delivery position and the target starting position in the target delivery time period as a first target delivery route.
In step S205, when there is no first target distribution route, performing route planning based on the target distribution position and the target start position to obtain a second target distribution route, including: when the first target delivery route does not exist: acquiring a target map of a target area, and planning a path based on a target distribution position, a target starting position and the target map to obtain a second target distribution path, wherein the target area is an active area of the target accessory robot; or based on the target distribution position and the target initial position, performing path planning through a path planning model to obtain a second target distribution path.
The path planning is performed based on the target delivery position, the target starting position and the target map, and a second target delivery path which is connected with the target delivery position and the target starting position can be found in the target map. And performing path planning through the path planning model based on the target delivery position and the target starting position, wherein the target delivery position and the target starting position are input into the path planning model, and a second target delivery path is output.
Based on the target delivery position and the target starting position, performing path planning through a path planning model, and before obtaining a second target delivery path, the method further comprises: respectively establishing a path shortest function, an obstacle minimum function, a time-consuming shortest function and a pedestrian minimum function according to a path shortest rule, an obstacle minimum rule, a time-consuming shortest rule and a pedestrian minimum rule; and constructing a path planning model based on the shortest path function, the minimum barrier function, the shortest time-consuming function and the minimum pedestrian function.
If a plurality of available delivery paths exist between the target delivery position and the target starting position, how to determine the optimal delivery path, the embodiment of the present disclosure may output the optimal delivery path through a path planning model.
Each function may be understood as a constraint. Although the shortest path function, the least-obstacle function, the shortest time-consuming function, and the least-pedestrian function are respectively established according to the shortest path rule, the least-obstacle rule, the shortest time-consuming rule, and the least-pedestrian rule, the shortest path function, the least-obstacle function, the shortest time-consuming function, and the least-pedestrian function may be used to calculate the length of the path, the number of obstacles, the time-consuming time, and the number of pedestrians. Calculating a plurality of available distribution paths between the target distribution position and the target initial position through a path shortest function, a barrier minimum function, a time consumption shortest function and a pedestrian minimum function, weighting and summing the obtained four calculation results to obtain a score corresponding to each distribution path, and then, the path planning model has the highest score, namely the optimal distribution path. And determining the weight value of the weighted sum of the four calculation results according to a specific scene.
If a certain distribution task is a valuable item, the obstacles and pedestrians need to be considered preferentially, namely, the weight value corresponding to the result of calculation of the obstacle minimum function and the pedestrian minimum function is larger. If a certain distribution task is urgent, the time consumption and the length of the path need to be considered preferentially, that is, the weight value corresponding to the calculation result of the path shortest function and the time consumption shortest function is larger. Of course, when the path planning model is constructed, a traffic flow minimum function can be considered, and the traffic flow minimum function is similar to the pedestrian minimum function.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 3 is a schematic diagram of a distribution path determining apparatus provided in an embodiment of the present disclosure. As shown in fig. 3, the dispensing route determining device includes:
a receiving module 301 configured to determine a target delivery location based on a target delivery task in a case where the target delivery task is received;
an obtaining module 302 configured to obtain a target start position where the target accessory robot is currently located;
a determining module 303, configured to determine whether a first target delivery route corresponding to the target delivery position and the target start position exists in the historical delivery route library;
a first control module 304 configured to control the target accessory robot to perform the target delivery task based on the first target delivery path when the first target delivery path exists;
and a second control module 305, configured to, when there is no first target delivery route, perform route planning based on the target delivery position and the target start position to obtain a second target delivery route, and control the target accessory robot to execute the target delivery task based on the second target delivery route, and simultaneously save the second target delivery route in the historical delivery route library.
The target starting position is the address of the current location when the target accessory robot takes the accessory corresponding to the target distribution task, and the target distribution position is the destination corresponding to the target distribution task; the target delivery task is a task of delivering one or more accessories. And controlling the target accessory robot to execute the target delivery task based on the first target delivery path, namely, the target accessory robot reaches the target delivery position along the first target delivery path to complete the target delivery task. And storing the second target distribution path into a historical distribution path library, and if the starting position and the distribution position are both close to the second target distribution path next time, then the path is not required to be planned any more, and the second target distribution path can be directly obtained from the historical distribution path library.
According to the technical scheme provided by the embodiment of the disclosure, under the condition that the target delivery task is received, the target delivery position is determined based on the target delivery task; acquiring a target initial position where a target accessory robot is located currently; judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library or not; when a first target distribution path exists, controlling the target accessory robot to execute a target distribution task based on the first target distribution path; and when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute a target distribution task based on the second target distribution path, and storing the second target distribution path into the historical distribution path library. By adopting the technical means, the problems that in the prior art, the accessory efficiency of the accessory robot can be further improved and the power consumption can be further reduced can be solved, so that the accessory efficiency of the accessory robot is improved, and the power consumption of the accessory robot is reduced.
Optionally, the determining module 303 is further configured to traverse the delivery paths in the historical delivery path library to determine whether delivery paths of the route target delivery position and the target start position exist in the historical delivery path library: if yes, determining a distribution path of the route target distribution position and the target starting position as a first target distribution path; if not, judging that the first target distribution path does not exist in the historical distribution path library; the historical distribution path library comprises a plurality of distribution paths.
For example, a certain distribution path in the historical distribution path library passes through a first site, a second site, a third site, a fourth site, a fifth site and a sixth site in sequence. If the target starting location is the second stop and the target delivery location is the fourth stop, then the delivery route may be determined to be the first target delivery route. The target delivery location and the target starting location are in a back-and-forth order in the delivery path without affecting the determination of the first target delivery path because the displacement is a vector and is independent of direction, e.g., the target starting location is the fourth stop and the target delivery location is the second stop, then the delivery path may still be determined to be the first target delivery path.
The plurality of delivery routes stored in the historical delivery route library may be generated by planning routes of the plurality of accessory robots.
Optionally, the determining module 303 is further configured to, if there are a plurality of delivery paths that route the target delivery location and the target start location: determining a distribution path with the highest evaluation score in distribution paths of a plurality of route target distribution positions and target starting positions as a first target distribution path; or determining a distribution route with the shortest time consumption in the distribution routes of the plurality of route target distribution positions and the target starting positions as a first target distribution route; or determining the distribution route which is used for the most times in the distribution routes of the route target distribution position and the target starting position as the first target distribution route.
The distribution paths stored in the historical distribution path library have corresponding evaluation scores. Each time the parts robot executes a delivery task based on a delivery path, after the delivery task is completed, the parts robot may score the delivery path, a higher score of the evaluation score indicates that the delivery path is more optimal, and factors affecting the evaluation score may include: time consumption, pedestrian flow, traffic flow, the number of red street lamps and the like.
The distribution paths stored in the historical distribution path library have corresponding time consumption. The accessory robot executes a delivery task based on the delivery path, and after the delivery task is completed, the consumed time is saved in a historical delivery path library.
The distribution paths stored in the historical distribution path library have corresponding use times. After the accessory robot adopts the distribution route each time, the number of times of use corresponding to the distribution route is increased by one.
Optionally, the determining module 303 is further configured to determine a target delivery time period corresponding to the target delivery task; judging whether a first target distribution path corresponding to a target distribution position and a target starting position exists in a historical distribution path library in a target distribution time period; the historical distribution path library comprises a plurality of distribution paths.
Since the same delivery route has different pedestrian volume and traffic volume in different time periods, the same delivery route has different time consumption and experience in different time periods, and therefore, in order to improve the efficiency of delivering the robot parts, the time period for performing the target delivery task, that is, the target delivery time period, should be considered when determining the first target delivery route.
Optionally, the determining module 303 is further configured to traverse the delivery paths in the historical delivery path library within the target delivery time period to determine whether the delivery paths of the route target delivery position and the target start position exist in the historical delivery path library within the target delivery time period: if yes, determining a distribution path which is within the target distribution time period and passes through the target distribution position and the target starting position as a first target distribution path; if not, the first target delivery path does not exist in the historical delivery path library.
Optionally, the determining module 303 is further configured to determine, as the first target delivery path, a delivery path with the highest evaluation score among the delivery paths of the plurality of route target delivery positions and the target start position in the target delivery time period; or determining a distribution route which consumes the shortest time in distribution routes of a plurality of route target distribution positions and target initial positions in a target distribution time period as a first target distribution route; or determining a delivery route which is used for the most times in the delivery routes which are routed to the target delivery position and the target starting position in the target delivery time period as a first target delivery route.
Optionally, the second control module 305 is further configured to, when the first target delivery path does not exist: acquiring a target map of a target area, and planning a path based on a target distribution position, a target starting position and the target map to obtain a second target distribution path, wherein the target area is an active area of the target accessory robot; or based on the target distribution position and the target initial position, performing path planning through a path planning model to obtain a second target distribution path.
The path planning is performed based on the target delivery position, the target starting position and the target map, and a second target delivery path which is connected with the target delivery position and the target starting position can be found in the target map. And performing path planning through the path planning model based on the target delivery position and the target starting position, wherein the target delivery position and the target starting position are input into the path planning model, and a second target delivery path is output.
Optionally, the second control module 305 is further configured to establish a shortest path function, a shortest obstacle function, a shortest time-consuming function and a least pedestrian function according to a shortest path rule, a least obstacle rule, a shortest time-consuming rule and a least pedestrian rule, respectively; and constructing a path planning model based on the shortest path function, the minimum barrier function, the shortest time-consuming function and the minimum pedestrian function.
If a plurality of available delivery paths exist between the target delivery position and the target starting position, how to determine the optimal delivery path, the embodiment of the present disclosure may output the optimal delivery path through a path planning model.
Each function may be understood as a constraint. Although the shortest path function, the least-obstacle function, the shortest time-consuming function, and the least-pedestrian function are respectively established according to the shortest path rule, the least-obstacle rule, the shortest time-consuming rule, and the least-pedestrian rule, the shortest path function, the least-obstacle function, the shortest time-consuming function, and the least-pedestrian function may be used to calculate the length of the path, the number of obstacles, the time-consuming time, and the number of pedestrians. Calculating a plurality of available distribution paths between the target distribution position and the target initial position through a path shortest function, a barrier minimum function, a time consumption shortest function and a pedestrian minimum function, weighting and summing the obtained four calculation results to obtain a score corresponding to each distribution path, and then, the path planning model has the highest score, namely the optimal distribution path. And determining the weight value of the weighted sum of the four calculation results according to a specific scene.
If a certain distribution task is a valuable item, the obstacles and pedestrians need to be considered preferentially, namely, the weight value corresponding to the result of calculation of the obstacle minimum function and the pedestrian minimum function is larger. If a certain distribution task is urgent, the time consumption and the length of the path need to be considered preferentially, that is, the weight value corresponding to the calculation result of the path shortest function and the time consumption shortest function is larger. Of course, when the path planning model is constructed, a traffic flow minimum function can be considered, and the traffic flow minimum function is similar to the pedestrian minimum function.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 4 is a schematic diagram of an electronic device 4 provided by the embodiment of the present disclosure. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a processor 401, a memory 402 and a computer program 403 stored in the memory 402 and executable on the processor 401. The steps in the various method embodiments described above are implemented when the processor 401 executes the computer program 403. Alternatively, the processor 401 implements the functions of the respective modules/units in the above-described respective apparatus embodiments when executing the computer program 403.
Illustratively, the computer program 403 may be partitioned into one or more modules/units, which are stored in the memory 402 and executed by the processor 401 to accomplish the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 403 in the electronic device 4.
The electronic device 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that fig. 4 is merely an example of the electronic device 4, and does not constitute a limitation of the electronic device 4, and may include more or less components than those shown, or combine certain components, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or a memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 4. Further, the memory 402 may also include both internal storage units of the electronic device 4 and external storage devices. The memory 402 is used for storing computer programs and other programs and data required by the electronic device. The memory 402 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, and multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. A method for determining a delivery route, comprising:
under the condition that a target delivery task is received, determining a target delivery position based on the target delivery task;
acquiring a target initial position where a target accessory robot is located currently;
judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in a historical distribution path library or not;
when the first target distribution path exists, controlling the target accessory robot to execute the target distribution task based on the first target distribution path;
and when the first target distribution path does not exist, performing path planning based on the target distribution position and the target starting position to obtain a second target distribution path, controlling the target accessory robot to execute the target distribution task based on the second target distribution path, and simultaneously storing the second target distribution path into the historical distribution path library.
2. The method of claim 1, wherein the determining whether the first target delivery route corresponding to the target delivery location and the target start location exists in the historical delivery route library comprises:
traversing the delivery paths in the historical delivery path library to judge whether the delivery paths which route the target delivery position and the target starting position exist in the historical delivery path library:
if yes, determining a distribution path passing through the target distribution position and the target starting position as the first target distribution path;
if not, judging that the first target delivery path does not exist in the historical delivery path library;
wherein, the historical distribution path library comprises a plurality of distribution paths.
3. The method of claim 2, wherein said determining a delivery path that routes through said target delivery location and said target starting location, if any, as said first target delivery path comprises:
if there are multiple delivery paths through the target delivery location and the target starting location:
determining a delivery path with the highest evaluation score in a plurality of delivery paths passing through the target delivery position and the target starting position as the first target delivery path; or
Determining a distribution path with the shortest time consumption in distribution paths of the target distribution position and the target starting position in a plurality of paths as the first target distribution path; or
And determining a delivery path which is used for the most times in a plurality of delivery paths passing through the target delivery position and the target starting position as the first target delivery path.
4. The method of claim 1, wherein the determining whether the first target delivery route corresponding to the target delivery location and the target start location exists in the historical delivery route library comprises:
determining a target distribution time period corresponding to the target distribution task;
judging whether a first target distribution path corresponding to the target distribution position and the target starting position exists in the historical distribution path library in the target distribution time period;
wherein, the historical distribution path library comprises a plurality of distribution paths.
5. The method of claim 4, wherein the determining whether a first target delivery route corresponding to the target delivery location and the target start location exists in the historical delivery route library within the target delivery time period comprises:
traversing the delivery paths in the historical delivery path library within the target delivery time period to judge whether delivery paths passing through the target delivery position and the target starting position exist in the historical delivery path library within the target delivery time period:
if so, determining a delivery path which is within the target delivery time period and approaches the target delivery position and the target starting position as the first target delivery path;
if not, the first target delivery path does not exist in the historical delivery path library.
6. The method of claim 1, wherein when the first target distribution path does not exist, performing path planning based on the target distribution position and the target start position to obtain a second target distribution path, comprises:
when the first target delivery path does not exist:
acquiring a target map of a target area, and planning a path based on the target distribution position, the target starting position and the target map to obtain a second target distribution path, wherein the target area is an area where the target accessory robot moves; or
And planning a path through a path planning model based on the target distribution position and the target initial position to obtain a second target distribution path.
7. The method of claim 1, wherein before the path planning is performed by a path planning model based on the target delivery location and the target start location to obtain a second target delivery path, the method further comprises:
respectively establishing a shortest path function, a minimum barrier function, a shortest time consuming function and a minimum pedestrian function according to a shortest path rule, a minimum barrier rule, a shortest time consuming rule and a minimum pedestrian rule;
and constructing the path planning model based on the path shortest function, the obstacle minimum function, the time-consuming shortest function and the pedestrian minimum function.
8. A distribution route determination device, comprising:
the receiving module is configured to determine a target delivery position based on a target delivery task when the target delivery task is received;
the acquisition module is configured to acquire a target starting position where the target accessory robot is currently located;
the judging module is configured to judge whether a first target distribution path corresponding to the target distribution position and the target starting position exists in a historical distribution path library;
a first control module configured to control the target parts robot to perform the target delivery task based on the first target delivery path when the first target delivery path exists;
and the second control module is configured to perform path planning based on the target distribution position and the target starting position to obtain a second target distribution path when the first target distribution path does not exist, control the target accessory robot to execute the target distribution task based on the second target distribution path, and store the second target distribution path into the historical distribution path library.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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