CN116596429A - Method for determining material transportation route and device for determining material transportation route - Google Patents

Method for determining material transportation route and device for determining material transportation route Download PDF

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CN116596429A
CN116596429A CN202310582215.8A CN202310582215A CN116596429A CN 116596429 A CN116596429 A CN 116596429A CN 202310582215 A CN202310582215 A CN 202310582215A CN 116596429 A CN116596429 A CN 116596429A
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route
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李响
张连昊
周垂日
窦泽森
肖云浩
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University of Science and Technology of China USTC
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    • G06Q10/087Inventory or stock management, e.g. order filling, procurement or balancing against orders

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Abstract

The disclosure provides a material transportation path determining method and a material transportation path determining device. The method includes the steps of responding to a path planning request, acquiring position information and distribution information of various facilities from a database; determining a plurality of first transportation paths of the first transportation device based on the demand point regression function and the cruising ability of the first transportation device; determining a plurality of second transportation paths of the second transportation device according to the position information, the destination and the distribution information of the plurality of demand points; calculating the path cost of each path to be screened based on a preset energy-time cost function, wherein the path to be screened comprises a second transportation path and a first transportation path corresponding to the second transportation path; and determining the path to be screened corresponding to the minimum path cost as a target planning path based on the path costs of the paths to be screened, wherein the target planning path is used for controlling the first transportation device and the second transportation device to execute the material transportation task according to the target planning path.

Description

物资运输路径的确定方法及物资运输路径的确定装置Method for determining material transportation route and device for determining material transportation route

技术领域technical field

本公开涉及路径规划技术领域,更具体地,涉及一种物资运输路径的确定方法、物资运输路径的确定装置、电子设备、计算机可读存储介质以及计算机程序产品。The present disclosure relates to the technical field of path planning, and more specifically, to a method for determining a material transportation route, a device for determining a material transportation route, electronic equipment, a computer-readable storage medium, and a computer program product.

背景技术Background technique

传统物资运输路径中最后一公里物资配送问题一直是物流配送中最重要的一环,是限制物流配送领域效率的一部分。目前最后一公里物资配送问题通常依赖于人力配送,部分企业采用无人机进行配送,从而能够提高配送效率。The last mile material distribution problem in the traditional material transportation route has always been the most important part of logistics distribution, and it is a part of the efficiency of the logistics distribution field. At present, the last mile material distribution problem usually relies on human distribution, and some enterprises use drones for distribution, which can improve distribution efficiency.

然而,相关技术中利用无人机进行物资配送时,没有充分考虑仓库的位置对于配送时效的影响,无人机在仓库和多个需求点之间进行配送时,由于仓库位置是固定的,从而造成整个配送环节的配送成本较高,需求点处的用户的等待成本较高。However, when UAVs are used for material distribution in the related art, the influence of the location of the warehouse on the delivery timeliness is not fully considered. As a result, the distribution cost of the entire distribution link is relatively high, and the waiting cost of users at the demand point is relatively high.

发明内容Contents of the invention

有鉴于此,本公开实施例提供了一种物资运输路径的确定方法、物资运输路径的确定装置、电子设备、计算机可读存储介质以及计算机程序产品。In view of this, the embodiments of the present disclosure provide a method for determining a material transportation route, an apparatus for determining a material transportation route, electronic equipment, a computer-readable storage medium, and a computer program product.

本公开实施例的一个方面提供了一种物资运输路径的确定方法,包括:An aspect of the embodiments of the present disclosure provides a method for determining a material transportation route, including:

响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种设施包括仓库和多个需求点;In response to the route planning request, the location information and delivery information of various facilities are obtained from the database, where the various facilities include warehouses and multiple demand points;

基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,其中,第一运输路径包括仓库的位置信息和第一运输装置的目的地,需求点回归函数是基于多个需求点的位置信息确定的;Based on the demand point regression function and the battery life of the first transportation device, multiple first transportation routes of the first transportation device are determined, wherein the first transportation route includes the location information of the warehouse and the destination of the first transportation device, and the demand point regression The function is determined based on the location information of multiple demand points;

针对每个第一运输路径,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,第二运输路径表征第二运输装置向多个需求点运输物资的运输路线;For each first transport route, according to the location information, destination and delivery information of multiple demand points, determine multiple second transport routes for the second transport device, where the second transport route represents the delivery of the second transport device to multiple The transportation route of the transportation materials at the demand point;

基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,待筛选路径包括第二运输路径和与第二运输路径对应的第一运输路径;Based on a preset energy-time cost function, calculating the route cost of each route to be screened, wherein the route to be screened includes a second transport route and a first transport route corresponding to the second transport route;

基于多个待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,目标规划路径用于控制第一运输装置和第二运输装置根据目标规划路径执行物资运输任务。Based on the path costs of multiple paths to be screened, the path to be screened corresponding to the minimum path cost is determined as the target planning path, wherein the target planning path is used to control the first transportation device and the second transportation device to execute the material according to the target planning path transport tasks.

根据本公开的实施例,基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,包括:According to an embodiment of the present disclosure, based on the demand point regression function and the battery life of the first transportation device, determining a plurality of first transportation routes of the first transportation device includes:

对多个需求点的位置信息进行线性回归处理,得到需求点回归函数;Perform linear regression processing on the location information of multiple demand points to obtain the regression function of the demand point;

根据第一运输装置的多个续航半径和仓库的位置信息,确定与每个续航半径对应的第一运输装置的最远运输区域;Determine the farthest transportation area of the first transportation device corresponding to each cruising radius according to the multiple cruising radii of the first transportation device and the location information of the warehouse;

针对每个最远运输区域,基于位置坐标系根据最远运输区域和需求点回归函数,得到多个运输地址;For each farthest transportation area, multiple transportation addresses are obtained based on the location coordinate system and the regression function of the farthest transportation area and the demand point;

将多个运输地址中距离多个需求点最近的运输地址确定为一个第一运输路径的目的地。The shipping address closest to the multiple demand points among the multiple shipping addresses is determined as the destination of the first shipping route.

根据本公开的实施例,需求点回归函数如以下第一个公式所示,预设能量-时间成本函数H如以下第二个公式所示:According to an embodiment of the present disclosure, the demand point regression function is shown in the first formula below, and the preset energy-time cost function H is shown in the second formula below:

yc=bxc+ay c = bx c + a

H=CE+αCT H=C E +αC T

其中,xc、yc分别为需求点回归函数的横、纵坐标,xi、yi为第i个需求点的横、纵坐标,为n个需求点的横、纵坐标的平均值,α为紧急系数,CE为能量消耗成本,CT为等待时间成本,R为续航半径,Eij为第二运输装置从位置i飞往位置j所消耗的能量,Wij为第二运输装置从i位置飞往j位置的次数,Wij=0或Wij=1,A为第一运输装置空载时单位距离消耗能量,ni为需求点i需求的包裹数,A0为增加单位包裹第一运输装置单位距离运输增加的能量,tij为第二运输装置从位置i到达位置j的时间;i,j∈D∪X,X、D分别为需求点和目的地,Tk为第一运输装置从仓库C行驶到D的时间。Among them, x c and y c are the abscissa and ordinate of the demand point regression function respectively, x i and y i are the abscissa and ordinate of the i-th demand point, is the average value of the horizontal and vertical coordinates of n demand points, α is the emergency coefficient, C E is the cost of energy consumption, C T is the cost of waiting time, R is the cruising radius, E ij is the flight of the second transport device from position i The energy consumed at position j, W ij is the number of times the second transport device flies from position i to position j, W ij =0 or W ij =1, A is the energy consumed per unit distance when the first transport device is empty, n i is the number of packages demanded by demand point i, A 0 is the increased energy of the unit distance transportation of the first transport device for increasing the unit package, t ij is the time for the second transport device to reach position j from position i; i,j∈D∪X, X and D are demand points and destinations respectively, and T k is the time for the first transportation device to travel from warehouse C to D.

根据本公开的实施例,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,包括:According to an embodiment of the present disclosure, according to the location information, destination and delivery information of multiple demand points, multiple second transport routes of the second transport device are determined, including:

根据目的地、多个需求点的位置信息和配送信息,确定第二运输装置的多个初始规划路径;Determining multiple initial planned routes of the second transportation device according to the destination, location information of multiple demand points, and delivery information;

针对每个初始规划路径,基于电量限制条件对初始规划路径进行路径修改,得到至少一个第二运输路径。For each initial planned route, the initial planned route is modified based on the power limit condition to obtain at least one second transportation route.

根据本公开的实施例,电量限制条件包括返程电量条件、能量守恒条件、单次耗电量条件和飞行开始电量条件,初始规划路径包括多个规划子路径,其中,每个规划子路径表征第二运输装置从目的地或一个需求点前往另一个需求点的运输路径;According to an embodiment of the present disclosure, the power limit condition includes a return power condition, an energy conservation condition, a single power consumption condition, and a flight start power condition, and the initial planned path includes a plurality of planned sub-paths, wherein each planned sub-path represents the first 2. The transportation route of the transportation device from the destination or one demand point to another demand point;

其中,基于电量限制条件对初始规划路径进行路径修改,得到至少一个第二运输路径,包括:Wherein, the path modification is performed on the initial planning path based on the power limit condition, and at least one second transportation path is obtained, including:

针对每个规划子路径,在第二运输装置的电量不满足返程电量条件、能量守恒条件、飞行开始电量条件和单次耗电量条件中任一电量条件的情况下,在规划子路径中添加目的地,得到修改后的规划子路径;For each planning sub-path, when the power of the second transportation device does not meet any power condition in the return power condition, energy conservation condition, flight start power condition and single power consumption condition, add in the planning sub-path Destination, get the modified planning sub-path;

根据多个修改后的规划子路径,生成第二运输路径。A second transport route is generated according to the plurality of modified planned sub-routes.

根据本公开的实施例,在第二运输装置为无人机的情况下,返程电量条件如以下第一个公式所示,能量守恒条件如以下第二个公式所示,单次耗电量条件如以下第三个公式所示,飞行开始电量条件如以下第四个公式所示:According to an embodiment of the present disclosure, when the second transportation device is an unmanned aerial vehicle, the return power condition is shown in the first formula below, the energy conservation condition is shown in the second formula below, and the single power consumption condition As shown in the third formula below, the battery condition at the start of flight is shown in the fourth formula below:

eiD≥{F+F0diD+liD(E+E0diD)},i∈Xe iD ≥{F+F 0 d iD +l iD (E+E 0 d iD )}, i∈X

Eij=∑j∈Neji-∑j∈Neij=F+F0dij+lij(E+E0dij),i,j∈D∪XE ij =∑ j∈N e ji -∑ j∈N e ij =F+F 0 d ij +l ij (E+E 0 d ij ), i,j∈D∪X

eijWij≤Emax,i∈N,j∈Ne ij W ij ≤E max ,i∈N,j∈N

eij≥{F+F0dij+lij(E+E0dij)}+{F+F0djD+liD(E+E0djD)},i∈X,j∈Xe ij ≥{F+F 0 d ij +l ij (E+E 0 d ij )}+{F+F 0 d jD +l iD (E+E 0 d jD )},i∈X,j∈X

其中,eiD表征从位置i前往目的地D使用的电量,F表征空载的无人机起飞降落消耗的能量:F0表征无人机携带单位包裹起飞降落消耗的能量:diD为无人机从位置i飞往目的地D携带的包裹量,liD为从位置i前往目的地D的距离,E空载无人机单位距离飞行所需能量:E0为增加单位包裹无人机单位距离飞行增加的能量:Eij为无人机从位置i飞往位置j所消耗的能量,N为需求点X和目的地D的集合,Wij为无人机从i位置飞往j位置的次数,Wij=0或Wij=1,eij为无人机从位置i飞往位置j的初始能量,Emax为无人机最大电量。Among them, e iD represents the power used to go from position i to destination D, F represents the energy consumed by the unloaded drone to take off and land: F 0 represents the energy consumed by the drone to carry a unit package to take off and land: d iD is unmanned The amount of packages carried by the drone from location i to destination D, l iD is the distance from location i to destination D, E is the energy required for the unit distance flight of an unloaded drone: E 0 is the added unit of package drone unit Increased energy for distance flight: E ij is the energy consumed by the UAV from position i to position j, N is the set of demand point X and destination D, W ij is the energy consumed by the UAV from position i to position j times, W ij =0 or W ij =1, e ij is the initial energy of the UAV flying from position i to position j, and E max is the maximum power of the UAV.

根据本公开的实施例,在对初始规划路径进行路径修改之后,还包括:According to an embodiment of the present disclosure, after the path modification is performed on the initial planned path, it further includes:

针对每个第二运输路径,基于包裹限制条件对第二运输路径进行路径修改,得到至少一个新的第二运输路径,其中,包裹限制条件用于确定第二运输路径中第二运输装置是否具有充足的包裹。For each second transportation route, modify the second transportation route based on the package restriction condition to obtain at least one new second transportation route, wherein the package restriction condition is used to determine whether the second transportation device in the second transportation route has Plenty of packages.

根据本公开的实施例,包裹限制条件包括:包裹配送条件、配送数量条件、配送点的配送次数条件和包裹运输量条件;According to an embodiment of the present disclosure, the package restriction conditions include: package delivery conditions, delivery quantity conditions, delivery frequency conditions of delivery points, and package transportation volume conditions;

其中,基于包裹限制条件对第二运输路径进行路径修改,得到至少一个新的第二运输路径,至少包括以下之一:Wherein, the second transportation route is modified based on the package restriction conditions to obtain at least one new second transportation route, which includes at least one of the following:

在第二运输路径中第二运输装置从一个需求点向另一个需求点的规划子路径中第二运输装置不满足包裹数量条件的情况下,在规划子路径中插入目的地,以使得第二运输装置在目的地进行包裹补充,得到新的第二运输路径;In the case that the second transportation device does not meet the package quantity condition in the planned sub-route from one demand point to another demand point in the second transportation route, the destination is inserted in the planned sub-route, so that the second The transport device performs package replenishment at the destination to obtain a new second transport route;

在第二运输路径中第二运输装置向需求点配送的规划子路径中第二运输装置的包裹数量不满足配送数量条件的情况下,在规划子路径中插入目的地,以使得第二运输装置在目的地中进行包裹的补充进而将预设数量的包裹运输至配送点,得到新的第二运输路径;In the second transportation route, in the planned sub-route where the second transportation device distributes to the demand point, in the case that the number of packages of the second transportation device does not meet the delivery quantity condition, the destination is inserted in the planning sub-route, so that the second transportation device Supplementing packages at the destination and transporting a preset number of packages to the distribution point to obtain a new second transportation route;

在第二运输路径中多个规划子路径中同一个需求点的配送次数不满足配送次数条件的情况下,将至少一个规划子路径中需求点进行删除,得到新的第二运输路径;In the case that the number of deliveries of the same demand point in multiple planned sub-routes in the second transport route does not meet the condition of the number of deliveries, at least one demand point in the planned sub-route is deleted to obtain a new second transport route;

在第二运输路径中出发地为目的地的规划子路径中第二运输装置的包裹数量不满足包裹运输量条件的情况下,对第二运输装置进行包裹装卸操作。In the case that the number of packages of the second transport device in the planned sub-route where the departure point is the destination in the second transport route does not meet the package transport volume condition, the package loading and unloading operation is performed on the second transport device.

根据本公开的实施例,在第二运输装置为无人机的情况下,包裹数量条件如以下第一个公式所示,配送数量条件如以下第二个公式所示,配送次数条件如以下第三个公式所示,包裹运输量条件如以下第四个公式所示:According to an embodiment of the present disclosure, when the second transportation device is a drone, the condition for the number of packages is as shown in the first formula below, the condition for the number of deliveries is as shown in the second formula below, and the condition for the number of deliveries is as shown in the first formula below As shown in the three formulas, the condition of the package transportation volume is shown in the fourth formula below:

dij≥nj,i,j∈Xd ij ≥ n j ,i,j∈X

jdji-∑j dij=ni,i∈Xj d ji -∑ j d ij =n i ,i∈X

∑Wij=1,i∈D∪X,j∈X∑W ij = 1, i∈D∪X, j∈X

dijWij≤Nmax,i,j∈D∪Xd ij W ij ≤N max ,i,j∈D∪X

其中,ni为需求点i需求的包裹数,dij无人机从i飞往j处携带的包裹量,Wij为无人机从位置i飞往位置j的次数,Wij=0或Wij=1,Nmax为无人机携带的最大包裹数量,X、D分别为需求点和目的地。Among them, n i is the number of packages required by demand point i, d ij is the amount of packages carried by the drone from i to j, W ij is the number of times the drone flies from location i to location j, W ij = 0 or W ij = 1, N max is the maximum number of packages carried by the UAV, X and D are the demand point and destination respectively.

本公开实施例的另一个方面提供了一种物资运输路径的确定装置,包括:Another aspect of the embodiments of the present disclosure provides a device for determining a material transportation route, including:

获取模块,用于响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种设施包括仓库和多个需求点;An acquisition module, configured to acquire location information and delivery information of various facilities from the database in response to a route planning request, wherein the various facilities include warehouses and multiple demand points;

第一确定模块,用于基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,其中,第一运输路径包括仓库的位置信息和第一运输装置的目的地,需求点回归函数是基于多个需求点的位置信息确定的;A first determination module, configured to determine a plurality of first transportation routes of the first transportation device based on the demand point regression function and the battery life of the first transportation device, wherein the first transportation routes include location information of the warehouse and the first transportation device destination, the demand point regression function is determined based on the location information of multiple demand points;

第二确定模块,用于针对每个第一运输路径,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,第二运输路径表征第二运输装置向多个需求点运输物资的运输路线;The second determination module is configured to, for each first transportation route, determine multiple second transportation routes of the second transportation device according to the location information, destination and delivery information of multiple demand points, wherein the second transportation route represents A transportation route for the second transportation device to transport materials to multiple demand points;

计算模块,用于基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,待筛选路径包括第二运输路径和与第二运输路径对应的第一运输路径;A calculation module, configured to calculate the route cost of each route to be screened based on a preset energy-time cost function, wherein the route to be screened includes a second transport route and a first transport route corresponding to the second transport route;

第三确定模块,用于基于多个待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,目标规划路径用于控制第一运输装置和第二运输装置根据目标规划路径执行物资运输任务。The third determination module is configured to determine the path to be screened corresponding to the minimum path cost as the target planning path based on the path costs of the plurality of paths to be screened, wherein the target planning path is used to control the first transport device and the second transport The device executes the material transportation task according to the target planning path.

本公开实施例的另一个方面提供了一种电子设备,包括:一个或多个处理器;存储器,用于存储一个或多个程序,其中,当所述一个或多个程序被所述一个或多个处理器执行时,使得所述一个或多个处理器实现如上所述的方法。Another aspect of the embodiments of the present disclosure provides an electronic device, including: one or more processors; a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more When executed by multiple processors, the one or more processors are made to implement the method as described above.

本公开实施例的另一个方面提供了一种计算机可读存储介质,存储有计算机可执行指令,所述指令在被执行时用于实现如上所述的方法。Another aspect of the embodiments of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, and the instructions are used to implement the above method when executed.

本公开实施例的另一个方面提供了一种计算机程序产品,所述计算机程序产品包括计算机可执行指令,所述指令在被执行时用于实现如上所述的方法。Another aspect of embodiments of the present disclosure provides a computer program product comprising computer-executable instructions for implementing the method as described above when executed.

根据本公开的实施例,通过多个需求点构建的需求点回归函数和第一运输装置的续航能力确定较为合适的多个目的地,对于每个目的地确定第二运输装置与多个需求点之间的多个第二运输路径,从而基于预设能量-时间成本函数确定每种待筛选路径的路径成本,将路径成本最小的待筛选路径确定为整个物资运输的目标路径,有效降低了物资运输的时间成本和资源消耗成本。According to an embodiment of the present disclosure, a plurality of more suitable destinations are determined through the demand point regression function constructed by a plurality of demand points and the battery life of the first transportation device, and for each destination, the second transportation device and the plurality of demand points are determined Multiple second transportation routes among them, so as to determine the path cost of each path to be screened based on the preset energy-time cost function, and determine the path to be screened with the smallest path cost as the target path of the entire material transportation, effectively reducing the cost of materials Time cost and resource consumption cost of transportation.

附图说明Description of drawings

通过以下参照附图对本公开实施例的描述,本公开的上述以及其他目的、特征和优点将更为清楚,在附图中:The above and other objects, features and advantages of the present disclosure will be more clearly described through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

图1示意性示出了根据本公开实施例的可以应用物资运输路径的确定方法的示例性系统架构;FIG. 1 schematically shows an exemplary system architecture in which a method for determining a material transportation route can be applied according to an embodiment of the present disclosure;

图2示意性示出了根据本公开实施例的物资运输路径的确定方法的流程图;FIG. 2 schematically shows a flow chart of a method for determining a material transportation route according to an embodiment of the present disclosure;

图3示意性示出了根据本公开实施例的多种设施的位置示意图;Fig. 3 schematically shows a schematic diagram of locations of various facilities according to an embodiment of the present disclosure;

图4示意性示出了根据本公开的实施例的物资运输路径的确定装置的框图;Fig. 4 schematically shows a block diagram of an apparatus for determining a material transportation route according to an embodiment of the present disclosure;

图5示意性示出了根据本公开实施例的适于实现上文描述的方法的电子设备的框图。Fig. 5 schematically shows a block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure.

具体实施方式Detailed ways

以下,将参照附图来描述本发明的实施例。但是应该理解,这些描述只是示例性的,而并非要限制本发明的范围。在下面的详细描述中,为便于解释,阐述了许多具体的细节以提供对本发明实施例的全面理解。然而,明显地,一个或多个实施例在没有这些具体细节的情况下也可以被实施。此外,在以下说明中,省略了对公知结构和技术的描述,以避免不必要地混淆本发明的概念。Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

在此使用的术语仅仅是为了描述具体实施例,而并非意在限制本发明。在此使用的术语“包括”、“包含”等表明了所述特征、步骤、操作和/或部件的存在,但是并不排除存在或添加一个或多个其他特征、步骤、操作或部件。The terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting of the invention. The terms "comprising", "comprising", etc. used herein indicate the presence of stated features, steps, operations and/or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

在此使用的所有术语(包括技术和科学术语)具有本领域技术人员通常所理解的含义,除非另外定义。应注意,这里使用的术语应解释为具有与本说明书的上下文相一致的含义,而不应以理想化或过于刻板的方式来解释。All terms (including technical and scientific terms) used herein have the meaning commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted to have a meaning consistent with the context of this specification, and not be interpreted in an idealized or overly rigid manner.

在使用类似于“A、B和C等中至少一个”这样的表述的情况下,一般来说应该按照本领域技术人员通常理解该表述的含义来予以解释(例如,“具有A、B和C中至少一个的系统”应包括但不限于单独具有A、单独具有B、单独具有C、具有A和B、具有A和C、具有B和C、和/或具有A、B、C的系统等)。Where expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted as those skilled in the art would normally understand the expression (for example, "having A, B, and C A system of at least one of "shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ).

本发明的实施例提供了一种物资运输路径的确定方法及物资运输路径的确定装置。该方法包括响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种设施包括仓库和多个需求点;基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,其中,第一运输路径包括仓库的位置信息和第一运输装置的目的地,需求点回归函数是基于多个需求点的位置信息确定的;针对每个第一运输路径,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,第二运输路径表征第二运输装置向多个需求点运输物资的运输路线;基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,待筛选路径包括第二运输路径和与第二运输路径对应的第一运输路径;基于多个待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,目标规划路径用于控制第一运输装置和第二运输装置根据目标规划路径执行物资运输任务。Embodiments of the present invention provide a method for determining a material transportation route and a device for determining a material transportation route. The method includes acquiring location information and delivery information of various facilities from a database in response to a route planning request, wherein the various facilities include warehouses and multiple demand points; based on the demand point regression function and the endurance capacity of the first transportation device, Determining multiple first transport routes of the first transport device, wherein the first transport route includes location information of the warehouse and the destination of the first transport device, and the demand point regression function is determined based on the position information of multiple demand points; for For each first transport route, multiple second transport routes of the second transport device are determined according to the location information, destination and delivery information of multiple demand points, wherein the second transport route represents the delivery of the second transport device to multiple demands The transportation route of point transportation materials; based on the preset energy-time cost function, calculate the path cost of each path to be screened, wherein, the path to be screened includes the second transportation path and the first transportation path corresponding to the second transportation path; based on The path cost of multiple paths to be screened, and the path to be screened corresponding to the minimum path cost is determined as the target planning path, wherein the target planning path is used to control the first transportation device and the second transportation device to perform material transportation according to the target planning path Task.

图1示意性示出了根据本公开实施例的可以应用物资运输路径的确定方法的示例性系统架构100。需要注意的是,图1所示仅为可以应用本公开实施例的系统架构的示例,以帮助本领域技术人员理解本公开的技术内容,但并不意味着本公开实施例不可以用于其他设备、系统、环境或场景。Fig. 1 schematically shows an exemplary system architecture 100 to which a method for determining a material transportation route can be applied according to an embodiment of the present disclosure. It should be noted that, what is shown in FIG. 1 is only an example of the system architecture to which the embodiments of the present disclosure can be applied, so as to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other device, system, environment or scenario.

如图1所示,该实施例的系统架构100可以包括第一终端设备101、第二终端设备102、第三终端设备103,网络104、服务器105。网络104用以在第一终端设备101、第二终端设备102、第三终端设备103、服务器105之间提供通信链路的介质。网络104可以包括各种连接类型,例如有线和/或无线通信链路等。As shown in FIG. 1 , the system architecture 100 of this embodiment may include a first terminal device 101 , a second terminal device 102 , a third terminal device 103 , a network 104 , and a server 105 . The network 104 is used as a medium for providing communication links among the first terminal device 101 , the second terminal device 102 , the third terminal device 103 , and the server 105 . Network 104 may include various connection types, such as wired and/or wireless communication links, and the like.

用户可以使用第一终端设备101、第二终端设备102、第三终端设备103通过网络104与服务器105交互,以接收或发送消息等。第一终端设备101、第二终端设备102、第三终端设备103上可以安装有各种通讯客户端应用,例如购物类应用、网页浏览器应用、搜索类应用、即时通信工具、邮箱客户端和/或社交平台软件等(仅为示例)。A user can use the first terminal device 101 , the second terminal device 102 , and the third terminal device 103 to interact with the server 105 through the network 104 to receive or send messages and the like. Various communication client applications can be installed on the first terminal device 101, the second terminal device 102, and the third terminal device 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, and / or social platform software, etc. (examples only).

第一终端设备101、第二终端设备102、第三终端设备103可以是具有显示屏并且支持网页浏览的各种电子设备,包括但不限于智能手机、平板电脑、膝上型便携计算机和台式计算机等。The first terminal device 101, the second terminal device 102, and the third terminal device 103 may be various electronic devices with display screens and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers and desktop computers wait.

服务器105可以是提供各种服务的服务器,例如对用户利用第一终端设备101、第二终端设备102、第三终端设备103所浏览的网站提供支持的后台管理服务器(仅为示例)。后台管理服务器可以对接收到的用户请求等数据进行分析等处理,并将处理结果(例如根据用户请求获取或生成的网页、信息、或数据等)反馈给终端设备。The server 105 may be a server that provides various services, such as a background management server that supports websites browsed by users using the first terminal device 101 , the second terminal device 102 , and the third terminal device 103 (just an example). The background management server can analyze and process received data such as user requests, and feed back processing results (such as webpages, information, or data obtained or generated according to user requests) to the terminal device.

需要说明的是,本发明实施例所提供的物资运输路径的确定方法可以由服务器105、第一终端设备101、第二终端设备102、第三终端设备103、能够与第一终端设备101、第二终端设备102、第三终端设备103和/或服务器105通信的其他服务器或服务器集群中的一种执行。相应地,本发明实施例所提供的物资运输路径的确定装置一般可以设置于服务器105、第一终端设备101、第二终端设备102、第三终端设备103、能够与第一终端设备101、第二终端设备102、第三终端设备103和/或服务器105通信的服务器或服务器集群中的一种中。It should be noted that the method for determining the material transportation route provided by the embodiment of the present invention can be implemented by the server 105, the first terminal device 101, the second terminal device 102, and the third terminal device 103, which can communicate with the first terminal device 101, the second terminal device The second terminal device 102, the third terminal device 103 and/or the server 105 communicate with one of other servers or server clusters. Correspondingly, the device for determining the material transportation route provided by the embodiment of the present invention can generally be set on the server 105, the first terminal device 101, the second terminal device 102, and the third terminal device 103, and can communicate with the first terminal device 101, the third terminal device The second terminal device 102, the third terminal device 103 and/or the server 105 communicate with one of the servers or server clusters.

应该理解,图1中的终端设备、网络、服务器的数目仅仅是示意性的。根据实现需要,可以具有任意数目的终端设备、网络、服务器。It should be understood that the numbers of terminal devices, networks, and servers in FIG. 1 are only illustrative. According to implementation requirements, there may be any number of terminal devices, networks, and servers.

图2示意性示出了根据本公开实施例的物资运输路径的确定方法的流程图。Fig. 2 schematically shows a flowchart of a method for determining a material transportation route according to an embodiment of the present disclosure.

如图2所示,物资运输路径的确定方法包括操作S201~S205。As shown in FIG. 2 , the method for determining a material transportation route includes operations S201-S205.

在操作S201,响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种设施包括仓库和多个需求点;In operation S201, in response to the route planning request, acquire location information and delivery information of various facilities from the database, wherein the various facilities include warehouses and multiple demand points;

在操作S202,基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,其中,第一运输路径包括仓库的位置信息和第一运输装置的目的地,需求点回归函数是基于多个需求点的位置信息确定的;In operation S202, based on the demand point regression function and the battery life of the first transportation device, a plurality of first transportation routes of the first transportation device are determined, wherein the first transportation routes include location information of the warehouse and the destination of the first transportation device , the demand point regression function is determined based on the location information of multiple demand points;

在操作S203,针对每个第一运输路径,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,第二运输路径表征第二运输装置向多个需求点运输物资的运输路线;In operation S203, for each first transportation route, a plurality of second transportation routes of the second transportation device are determined according to the location information, destination and delivery information of the plurality of demand points, wherein the second transportation route represents the second transportation The transportation route of the device to transport materials to multiple demand points;

在操作S204,基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,待筛选路径包括第二运输路径和与第二运输路径对应的第一运输路径;In operation S204, based on a preset energy-time cost function, calculate a route cost of each route to be screened, wherein the route to be screened includes a second transport route and a first transport route corresponding to the second transport route;

在操作S205,基于多个待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,目标规划路径用于控制第一运输装置和第二运输装置根据目标规划路径执行物资运输任务。In operation S205, based on the route costs of the plurality of routes to be screened, the route to be screened corresponding to the minimum route cost is determined as the target planning route, wherein the target planning route is used to control the first transportation device and the second transportation device according to the target Plan routes to execute material transportation tasks.

根据本公开的实施例,数据库中预先存储有该应急场景下的多种设施的位置信息。配送信息可以指不同需求点对包裹的需求量,第二运输路径可以指无人机在仓库与多个需求点之间的运输线路。According to an embodiment of the present disclosure, location information of various facilities in the emergency scene is pre-stored in the database. The distribution information can refer to the demand for packages at different demand points, and the second transportation route can refer to the transportation route of the drone between the warehouse and multiple demand points.

根据本公开的实施例,路径规划请求可以根据用户在输入设备中输入的路径规划指令生成,其中,输入设备可以包括手机、电脑等设备。第一运输装置可以包括卡车、直升机等大型运输设备,大型运输设备可以同时运输大量的物资且具有为第二运输装置进行能量补充的设备,例如充电桩、电池或者加油设备,第二运输装置可以指无人机、电瓶车等小型末端配送装置,小型末端配送装置的运输量较小,但是机动性要优于第一运输装置。According to an embodiment of the present disclosure, the route planning request may be generated according to a route planning instruction input by a user in an input device, where the input device may include devices such as mobile phones and computers. The first transportation device may include large-scale transportation equipment such as trucks and helicopters. The large-scale transportation equipment can transport a large amount of materials at the same time and has equipment for energy supplementation for the second transportation device, such as charging piles, batteries or refueling equipment. The second transportation device can Refers to small terminal distribution devices such as unmanned aerial vehicles and battery cars. The transportation volume of small terminal distribution devices is small, but the mobility is better than that of the first transportation device.

根据本公开的实施例,响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,多种设施的位置信息可以在坐标系中进行标记。根据多个需求点的位置信息首先确定此次路径规划的需求点回归函数,并在坐标系中标示处该需求点回归函数的曲线,以仓库的位置信息作为圆心,根据第一运输装置的续航能力确定半径,将该半径所在的圆与需求点回归函数的曲线的交点作为第一运输装置的目的地,其中,半径最大不超过第一运输装置续航能力的一半,因此基于第一运输装置的续航能力确定多个半径,因此,可以得到多个第一运输路径。According to an embodiment of the present disclosure, in response to a route planning request, location information and delivery information of various facilities are acquired from the database, and the location information of various facilities can be marked in the coordinate system. According to the location information of multiple demand points, firstly determine the demand point regression function for this path planning, and mark the curve of the demand point regression function in the coordinate system, with the location information of the warehouse as the center of the circle, according to the battery life of the first transportation device The capacity determines the radius, and the intersection point of the circle where the radius is located and the curve of the demand point regression function is taken as the destination of the first transportation device, where the maximum radius does not exceed half of the endurance capacity of the first transportation device. Endurance determines multiple radii and, therefore, multiple first transport paths may be obtained.

根据本公开的实施例,针对每个第一运输路径,根据第一运输路径中的目的地和多个需求点的位置信息,确定第二运输装置的多个第二运输路径,从而根据一个第二运输路径和与该第二运输路径对应的第一运输路径确定一个待筛选路径。基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,将路径成本最小的待筛选路径确定为目标规划路径,将该目标规划路径传输至第一运输装置和第二运输装置,以使得第一运输装置基于目标规划路径中第一运输路径将包裹从仓库运输至目的地,第二运输装置基于目标规划路径中第二运输路径将目的地处的包裹配送至多个需求点。According to an embodiment of the present disclosure, for each first transportation route, a plurality of second transportation routes of the second transportation device are determined according to the destination in the first transportation route and location information of a plurality of demand points, so that according to one first transportation route The second transport route and the first transport route corresponding to the second transport route determine a route to be screened. Based on the preset energy-time cost function, calculate the path cost of each path to be screened, determine the path to be screened with the smallest path cost as the target planning path, and transmit the target planning path to the first transportation device and the second transportation device, So that the first transport device transports the package from the warehouse to the destination based on the first transport route in the target planned route, and the second transport device delivers the package at the destination to multiple demand points based on the second transport route in the target planned route.

根据本公开的实施例,通过多个需求点构建的需求点回归函数和第一运输装置的续航能力确定较为合适的多个目的地,对于每个目的地确定第二运输装置与多个需求点之间的多个第二运输路径,从而基于预设能量-时间成本函数确定每种待筛选路径的路径成本,将路径成本最小的待筛选路径确定为整个物资运输的目标路径,有效降低了物资运输的时间成本和资源消耗成本。According to an embodiment of the present disclosure, a plurality of more suitable destinations are determined through the demand point regression function constructed by a plurality of demand points and the battery life of the first transportation device, and for each destination, the second transportation device and the plurality of demand points are determined Multiple second transportation routes among them, so as to determine the path cost of each path to be screened based on the preset energy-time cost function, and determine the path to be screened with the smallest path cost as the target path of the entire material transportation, effectively reducing the cost of materials Time cost and resource consumption cost of transportation.

根据本公开的实施例,基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,包括:According to an embodiment of the present disclosure, based on the demand point regression function and the battery life of the first transportation device, determining a plurality of first transportation routes of the first transportation device includes:

对多个需求点的位置信息进行线性回归处理,得到需求点回归函数;Perform linear regression processing on the location information of multiple demand points to obtain the regression function of the demand point;

根据第一运输装置的多个续航半径和仓库的位置信息,确定与每个续航半径对应的第一运输装置的最远运输区域;Determine the farthest transportation area of the first transportation device corresponding to each cruising radius according to the multiple cruising radii of the first transportation device and the location information of the warehouse;

针对每个最远运输区域,基于位置坐标系根据最远运输区域和需求点回归函数,得到多个运输地址;For each farthest transportation area, multiple transportation addresses are obtained based on the location coordinate system and the regression function of the farthest transportation area and the demand point;

将多个运输地址中距离多个需求点最近的运输地址确定为一个第一运输路径的目的地。The shipping address closest to the multiple demand points among the multiple shipping addresses is determined as the destination of the first shipping route.

根据本公开的实施例,在位置坐标系中标记出不同需求点的位置信息之后,对多个位置信息进行线性回归处理,从而可以得到关于多个需求点的需求点回归函数。根据第一运输装置的多个续航半径R和仓库的位置信息,确定与每个续航半径对应的第一运输装置的最远运输区域,最远运输区域即上文描述的将仓库的位置信息作为圆心,以续航半径R构建的圆。According to an embodiment of the present disclosure, after the position information of different demand points is marked in the position coordinate system, linear regression processing is performed on a plurality of position information, so as to obtain a demand point regression function about the plurality of demand points. According to the multiple cruising radii R of the first transportation device and the location information of the warehouse, determine the furthest transportation area of the first transportation device corresponding to each cruising radius, the farthest transportation area is the location information of the warehouse as described above The center of the circle is a circle constructed with the cruising radius R.

根据本公开的实施例,针对每个圆(即最远运输区域),圆与需求点回归函数可能存在两个交点,一个交点位于圆上靠近需求点的一侧,另一个交点位于圆上远离需求点的一侧,将靠近需求点一侧的交点确定为此续航半径R下的目的地D。According to the embodiment of the present disclosure, for each circle (that is, the farthest transportation area), there may be two intersection points between the circle and the demand point regression function, one intersection point is located on the side of the circle close to the demand point, and the other intersection point is located on the circle far away from the demand point. On the side of the demand point, the intersection point close to the side of the demand point is determined as the destination D under the cruising radius R.

根据本公开的实施例,第一运输装置到达目的地D的限制条件如公式(1)和公式(2)所示:According to an embodiment of the present disclosure, the constraint condition for the first transportation device to reach the destination D is shown in formula (1) and formula (2):

(xc-xd)2+(yc-yd)2=R2 (1)(x c -x d ) 2 +(y c -y d ) 2 =R 2 (1)

其中,xc、yc为仓库C的横纵坐标,xd、yd为目的地D的横纵坐标,Lmax为第一运输装置的最大运输距离,可以表征第一运输装置的续航能力。最大运输距离与第一运输装置自身的续航电量(或油量)有关,若第一运输装置携带有备用能量的情况下,最大运输距离由自身的能量以及备用能量确定。Among them, x c and y c are the horizontal and vertical coordinates of warehouse C, x d and y d are the horizontal and vertical coordinates of destination D, and L max is the maximum transportation distance of the first transportation device, which can represent the battery life of the first transportation device . The maximum transportation distance is related to the cruising power (or fuel capacity) of the first transportation device itself. If the first transportation device carries spare energy, the maximum transportation distance is determined by its own energy and the backup energy.

根据本公开的实施例,线性回归方程(本公开的需求点回归函数)在某种程度上来说是距离需求点位置最近点的集合,第一运输装置到达目的地D在以仓库C为圆心半径为R的圆上,在圆上的所有点中,圆与线性回归方程相交的点在综合效果上是距离中心点(多个需求点的中心点)最近的点,选择此点作为第一运输装置到达点即资源补充点(本公开的目的地)能缩短第二运输装置从需求点返回资源补充点的时间,提高了物资的配送效率,降低了需求点处的用户的等待成本。According to the embodiment of the present disclosure, the linear regression equation (regression function of the demand point in the present disclosure) is to some extent a collection of points closest to the demand point, and the first transportation device arrives at the destination D within the center radius of the warehouse C On the circle of R, among all points on the circle, the point where the circle intersects the linear regression equation is the closest point to the center point (the center point of multiple demand points) in terms of comprehensive effect, and this point is selected as the first transportation The arrival point of the device, that is, the resource replenishment point (destination of the present disclosure), can shorten the time for the second transportation device to return from the demand point to the resource replenishment point, improve the delivery efficiency of materials, and reduce the waiting cost of users at the demand point.

根据本公开的实施例,需求点回归函数如公式(3)所示,预设能量-时间成本函数H如公式(4)所示:According to an embodiment of the present disclosure, the demand point regression function is shown in formula (3), and the preset energy-time cost function H is shown in formula (4):

yc=bxc+a (3)y c =bx c +a (3)

其中,xc、yc分别为需求点回归函数的横、纵坐标,xi、yi为第i个需求点的横、纵坐标,为n个需求点的横、纵坐标的平均值,α为预设的紧急系数,例如可以为1、2等任意数字,CE为能量消耗成本,CT为等待时间成本,R为续航半径,Eij为第二运输装置从位置i飞往位置j所消耗的能量,Wij为第二运输装置从i位置飞往j位置的次数,Wij=0或Wij=1,A为第一运输装置空载时单位距离消耗能量,ni为需求点i需求的包裹数,A0为增加单位包裹第一运输装置单位距离运输增加的能量,tij为第二运输装置从位置i到达位置j的时间;i,j∈D∪X,X、D分别为需求点和目的地,Tk为第一运输装置从仓库C行驶到D的时间。Among them, x c and y c are the abscissa and ordinate of the demand point regression function respectively, x i and y i are the abscissa and ordinate of the i-th demand point, is the average value of the horizontal and vertical coordinates of n demand points, α is the preset emergency coefficient, for example, it can be any number such as 1, 2, etc., C E is the energy consumption cost, C T is the waiting time cost, and R is the endurance radius , E ij is the energy consumed by the second transport device flying from position i to position j, W ij is the number of times the second transport device flies from position i to position j, W ij =0 or W ij =1, A is the A transport device consumes energy per unit distance when it is empty, n i is the number of packages required by demand point i, A 0 is the increased energy for unit distance transportation of the first transport device for increasing unit parcels, t ij is the arrival of the second transport device from position i Time at position j; i, j∈D∪X, X, D are the demand point and destination respectively, and T k is the time when the first transportation device travels from warehouse C to D.

根据本公开的实施例,能量消耗成本CE主要包括第一运输装置从仓库C到到达目的地D的过程中第一运输装置消耗的能量和第二运输装置运输包裹及往返目的地消耗的能量。According to the embodiment of the present disclosure, the energy consumption cost C E mainly includes the energy consumed by the first transportation device during the process of the first transportation device from the warehouse C to the destination D and the energy consumed by the second transportation device to transport the package and to and from the destination .

根据本公开的实施例,等待时间成本CT包括第一运输装置从C开往D时用户等待成本和第二运输装置配送时用户等待的成本。当D点选择与需求点太近,会导致第一运输装置运送时间过长,时间成本会过高;当D点选择与需求点太远,会导致第二运输装置在资源不足时往返D进行资源补充的时间过长,也会导致时间成本的增加;在第一运输装置的运行距离范围内,合理选择第一运输装置到达的目的地D也就是无人机的资源补充点的位置,会对最终的路径成本结果产生较大影响。According to an embodiment of the present disclosure, the waiting time cost C T includes the user's waiting cost when the first transportation device drives from C to D and the user's waiting cost when the second transportation device delivers. When point D is selected too close to the demand point, the first transportation device will take too long to transport and the time cost will be too high; when point D is selected too far from the demand point, it will cause the second transportation device to go back and forth to D when resources are insufficient. If the resource replenishment time is too long, it will also lead to an increase in time cost; within the operating distance of the first transportation device, a reasonable selection of the destination D of the first transportation device, which is the location of the UAV's resource replenishment point, will have a greater impact on the final path cost result.

根据本公开的实施例,用户等待时间成本的单位与能量成本二者单位不同,不能简单相加,因此选择使用紧急系数α来表示用户等待的紧急程度。紧急系数选择的大小与很多因素有关,具体如表1所示。According to the embodiment of the present disclosure, the units of user waiting time cost and energy cost are different and cannot be simply added together, so the urgency coefficient α is chosen to represent the urgency of user waiting. The selection of the emergency coefficient is related to many factors, as shown in Table 1.

表1Table 1

影响因子Impact factor 影响因子趋势Impact Factor Trends 紧急系数趋势Urgency Factor Trend a与影响因子的关系a and the relationship between impact factors 包裹价值package value 增大increase 增大increase 正相关Positive correlation 包裹配送价格Parcel delivery price 增大increase 增大increase 正相关Positive correlation 包裹保质期Package shelf life 增大increase 减小decrease 负相关negative correlation

根据本公开的实施例,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,包括:According to an embodiment of the present disclosure, according to the location information, destination and delivery information of multiple demand points, multiple second transport routes of the second transport device are determined, including:

根据目的地、多个需求点的位置信息和配送信息,确定第二运输装置的多个初始规划路径;Determining multiple initial planned routes of the second transportation device according to the destination, location information of multiple demand points, and delivery information;

针对每个初始规划路径,基于电量限制条件对初始规划路径进行路径修改,得到至少一个第二运输路径。For each initial planned route, the initial planned route is modified based on the power limit condition to obtain at least one second transportation route.

根据本公开的实施例,配送信息中包括该需求点需要包裹的数量。根据目的地、多个需求点的位置信息和配送信息确定第二运输装置的多个初始规划路径,但是由于第二运输装置自身的能量有限,例如在第二运输装置向多个需求点配送包裹时,可能存在能量不足以前往下一个需求点,因此对于每个初始规划路径,基于电量限制条件对此初始规划路径进行修改,以保证第二运输装置的能量能够满足在多个需求点之间移动。According to an embodiment of the present disclosure, the delivery information includes the quantity of packages required by the demand point. Determine the multiple initial planning routes of the second transportation device according to the destination, location information and delivery information of multiple demand points, but due to the limited energy of the second transportation device itself, for example, the second transportation device delivers packages to multiple demand points When , there may be insufficient energy to go to the next demand point. Therefore, for each initial planning route, the initial planning route is modified based on the power limit condition to ensure that the energy of the second transportation device can meet the needs between multiple demand points. move.

需要说明的是,本公开涉及的电量不仅仅包括电能,还可以包括化学能或者电能与化学能的结合,例如油电混动的第二运输装置。It should be noted that the electricity involved in the present disclosure not only includes electrical energy, but also includes chemical energy or a combination of electrical energy and chemical energy, such as a second transportation device that is powered by a hybrid electric vehicle.

根据本公开的实施例,电量限制条件包括返程电量条件、能量守恒条件、单次耗电量条件和飞行开始电量条件,初始规划路径包括多个规划子路径,其中,每个规划子路径表征第二运输装置从目的地或一个需求点前往另一个需求点的运输路径;According to an embodiment of the present disclosure, the power limit condition includes a return power condition, an energy conservation condition, a single power consumption condition, and a flight start power condition, and the initial planned path includes a plurality of planned sub-paths, wherein each planned sub-path represents the first 2. The transportation route of the transportation device from the destination or one demand point to another demand point;

其中,基于电量限制条件对初始规划路径进行路径修改,得到至少一个第二运输路径,包括:Wherein, the path modification is performed on the initial planning path based on the power limit condition, and at least one second transportation path is obtained, including:

针对每个规划子路径,在第二运输装置的电量不满足返程电量条件、能量守恒条件、飞行开始电量条件和单次耗电量条件中任一电量条件的情况下,在规划子路径中添加目的地,得到修改后的规划子路径;For each planning sub-path, when the power of the second transportation device does not meet any power condition in the return power condition, energy conservation condition, flight start power condition and single power consumption condition, add in the planning sub-path Destination, get the modified planning sub-path;

根据多个修改后的规划子路径,生成第二运输路径。A second transport route is generated according to the plurality of modified planned sub-routes.

根据本公开的实施例,返程电量条件是为了保证第二运输装置无论在哪个需求点都能保证有足够的能量返回目的地进行能量补充,避免第二运输装置在第二运输路径中瘫痪而无法执行后续的物资运输任务。According to the embodiment of the present disclosure, the return power condition is to ensure that no matter which demand point the second transportation device is at, it can ensure that there is enough energy to return to the destination for energy replenishment, so as to prevent the second transportation device from being paralyzed in the second transportation route and cannot Perform follow-up material transportation tasks.

能量守恒条件目的在于保证第二运输装置在任意一个地点(需求点或目的地)到另一个地点之间使用的能量满足能量守恒定律。The purpose of the energy conservation condition is to ensure that the energy used by the second transportation device between any one location (demand point or destination) and another location satisfies the law of energy conservation.

单次耗电量条件目的在于保证第二运输装置在任意两个地点之间消耗的能量不超过第二运输装置的最大能量。The purpose of the single power consumption condition is to ensure that the energy consumed by the second transportation device between any two locations does not exceed the maximum energy of the second transportation device.

飞行开始电量条件是为了第二运输装置在由一个需求点运往另一个需求点时,必须满足能量足够飞到下一需求点,并且能够由下一需求点返回目的地D。The power condition at the start of the flight is for the second transportation device to have enough energy to fly to the next demand point when it is transported from one demand point to another demand point, and to be able to return to the destination D from the next demand point.

根据本公开的实施例,针对每个规划子路径,在第二运输装置的电量不满足返程电量条件、能量守恒条件、飞行开始电量条件和单次耗电量条件中任一电量条件的情况下,在规划子路径中添加目的地,得到修改后的规划子路径;根据多个修改后的规划子路径,生成第二运输路径。According to an embodiment of the present disclosure, for each planned sub-route, if the power of the second transportation device does not meet any power condition in the return power condition, energy conservation condition, flight start power condition and single power consumption condition , adding a destination in the planning sub-route to obtain a modified planning sub-route; generating a second transportation route according to a plurality of modified planning sub-routes.

根据本公开的实施例,在第二运输装置为无人机的情况下,返程电量条件如公式(5)所示,能量守恒条件如公式(6)所示,单次耗电量条件如公式(7)所示,飞行开始电量条件如公式(8)所示:According to an embodiment of the present disclosure, in the case where the second transportation device is an unmanned aerial vehicle, the return power condition is shown in formula (5), the energy conservation condition is shown in formula (6), and the single power consumption condition is shown in formula As shown in (7), the power condition at the start of flight is shown in formula (8):

eiD≥{F+ F0diD+liD(E+E0diD)}, i∈X (5)e iD ≥{F+ F 0 d iD +l iD (E+E 0 d iD )}, i∈X (5)

Eij=∑j∈Neji-∑j∈Neij=F+ F0dij+lij(E+E0dij),i,j∈D∪ (6)E ij =∑ j∈N e ji -∑ j∈N e ij =F+ F 0 d ij +l ij (E+E 0 d ij ), i,j∈D∪ (6)

Xx

eijWij≤Emax, i∈N, j∈N (7)e ij W ij ≤ E max , i∈N, j∈N (7)

eij≥{F+ F0dij+lij(E+E0dij)}+{F+ F0djD+liD(E+ (8)e ij ≥{F+ F 0 d ij +l ij (E+E 0 d ij )}+{F+ F 0 d jD +l iD (E+ (8)

E0djD)},i∈X,j∈XE 0 d jD )},i∈X,j∈X

其中,eiD表征从位置i前往目的地D使用的电量,F表征空载的无人机起飞降落消耗的能量:F0表征无人机携带单位包裹起飞降落消耗的能量:diD为无人机从位置i飞往目的地D携带的包裹量,liD为从位置i前往目的地D的距离,E空载无人机单位距离飞行所需能量:E0为增加单位包裹无人机单位距离飞行增加的能量:Eij为无人机从位置i飞往位置j所消耗的能量,N为需求点X和目的地D的集合,Wij为无人机从i位置飞往j位置的次数,Wij=0或Wij=1,eij为无人机从位置i飞往位置j的初始能量,Emax为无人机最大电量。Among them, e iD represents the power used to go from position i to destination D, F represents the energy consumed by the unloaded drone to take off and land: F 0 represents the energy consumed by the drone to carry a unit package to take off and land: d iD is unmanned The amount of packages carried by the drone from location i to destination D, l iD is the distance from location i to destination D, E is the energy required for the unit distance flight of an unloaded drone: E 0 is the added unit of package drone unit Increased energy for distance flight: E ij is the energy consumed by the UAV from position i to position j, N is the set of demand point X and destination D, W ij is the energy consumed by the UAV from position i to position j times, W ij =0 or W ij =1, e ij is the initial energy of the UAV flying from position i to position j, and E max is the maximum power of the UAV.

根据本公开的实施例,在对初始规划路径进行路径修改之后,还包括:According to an embodiment of the present disclosure, after the path modification is performed on the initial planned path, it further includes:

针对每个第二运输路径,基于包裹限制条件对第二运输路径进行路径修改,得到至少一个新的第二运输路径,其中,包裹限制条件用于确定第二运输路径中第二运输装置是否具有充足的包裹。For each second transportation route, modify the second transportation route based on the package restriction condition to obtain at least one new second transportation route, wherein the package restriction condition is used to determine whether the second transportation device in the second transportation route has Plenty of packages.

在一种示例性的实施例中,由于第二运输装置的装载量有限,在第二运输装置根据第二运输路径执行物资运输任务的过程中,可能在当前需求点卸载一定数量的包裹后,剩余的包裹数不够下一个需求点需要的包裹数量,此时需要返回目的地进行包裹的补充才能前往下一个需求点。此示例仅为包裹限制条件中的一种情况,包裹限制条件还可以包括每个需求点配送的次数等。In an exemplary embodiment, due to the limited loading capacity of the second transport device, during the process of the second transport device performing the material transport task according to the second transport route, after a certain number of packages may be unloaded at the current demand point, The remaining number of packages is not enough for the next demand point. At this time, it is necessary to return to the destination to supplement the packages before going to the next demand point. This example is only one of the package restriction conditions, and the package restriction conditions may also include the number of deliveries for each demand point, etc.

根据本公开的实施例,基于包裹限制条件对第二运输路径中任意一个规划子路径进行判断,以确定该规划子路径是否需要进行修改,从而得到修改后的规划子路径,基于多个修改后的规划子路径和/或未修改的规划子路径得到新的第二运输路径。According to an embodiment of the present disclosure, any one of the planned sub-route in the second transportation route is judged based on the package restriction conditions to determine whether the planned sub-route needs to be modified, so as to obtain the modified planned sub-route, based on multiple modified The planned sub-route and/or the unmodified planned sub-route obtain a new second transportation route.

根据本公开的实施例,包裹限制条件包括:包裹配送条件、配送数量条件、配送点的配送次数条件和包裹运输量条件;According to an embodiment of the present disclosure, the package restriction conditions include: package delivery conditions, delivery quantity conditions, delivery frequency conditions of delivery points, and package transportation volume conditions;

其中,基于包裹限制条件对第二运输路径进行路径修改,得到至少一个新的第二运输路径,至少包括以下之一:Wherein, the second transportation route is modified based on the package restriction conditions to obtain at least one new second transportation route, which includes at least one of the following:

在第二运输路径中第二运输装置从一个需求点向另一个需求点的规划子路径中第二运输装置不满足包裹数量条件的情况下,在规划子路径中插入目的地,以使得第二运输装置在目的地进行包裹补充,得到新的第二运输路径;In the case that the second transportation device does not meet the package quantity condition in the planned sub-route from one demand point to another demand point in the second transportation route, the destination is inserted in the planned sub-route, so that the second The transport device performs package replenishment at the destination to obtain a new second transport route;

在第二运输路径中第二运输装置向需求点配送的规划子路径中第二运输装置的包裹数量不满足配送数量条件的情况下,在规划子路径中插入目的地,以使得第二运输装置在目的地中进行包裹的补充进而将预设数量的包裹运输至配送点,得到新的第二运输路径;In the second transportation route, in the planned sub-route where the second transportation device distributes to the demand point, in the case that the number of packages of the second transportation device does not meet the delivery quantity condition, the destination is inserted in the planning sub-route, so that the second transportation device Supplementing packages at the destination and transporting a preset number of packages to the distribution point to obtain a new second transportation route;

在第二运输路径中多个规划子路径中同一个需求点的配送次数不满足配送次数条件的情况下,将至少一个规划子路径中需求点进行删除,得到新的第二运输路径;In the case that the number of deliveries of the same demand point in multiple planned sub-routes in the second transport route does not meet the condition of the number of deliveries, at least one demand point in the planned sub-route is deleted to obtain a new second transport route;

在第二运输路径中出发地为目的地的规划子路径中第二运输装置的包裹数量不满足包裹运输量条件的情况下,对第二运输装置进行包裹装卸操作。In the case that the number of packages of the second transport device in the planned sub-route where the departure point is the destination in the second transport route does not meet the package transport volume condition, the package loading and unloading operation is performed on the second transport device.

根据本公开的实施例,包裹配送条件是指第二运输装置从一个需求点运到另一个需求点时,携带的包裹数量要充足。According to the embodiment of the present disclosure, the package distribution condition means that when the second transportation device transports from one demand point to another demand point, the number of packages carried must be sufficient.

配送数量条件是指第二运输装置给需求点配送的包裹数要满足该配送点的配送信息中要求的包裹数。The delivery quantity condition means that the number of packages delivered by the second transport device to the demand point must meet the number of packages required in the delivery information of the delivery point.

配送点的配送次数条件是指第二运输装置去往每个配送点的次数只能为预设次数,例如1次。The delivery frequency condition of the delivery point means that the number of times the second transportation device goes to each delivery point can only be a preset number of times, for example, one time.

包裹运输量条件是指第二运输装置携带的包裹数量不得超过第二运输装置的最大运输量。The parcel transportation volume condition means that the number of parcels carried by the second transportation device must not exceed the maximum transportation volume of the second transportation device.

根据本公开的实施例,在第二运输装置为无人机的情况下,包裹数量条件如公式(9)所示,配送数量条件如公式(10)所示,配送次数条件如公式(11)所示,包裹运输量条件如公式(12)所示:According to an embodiment of the present disclosure, in the case where the second transportation device is a drone, the package quantity condition is as shown in formula (9), the delivery quantity condition is as shown in formula (10), and the delivery frequency condition is as shown in formula (11) As shown, the condition of package transportation volume is shown in formula (12):

dij≥nj,i,j ∈X (9)d ij ≥ n j ,i,j ∈ X (9)

jdji-∑j dij=ni, i∈X (10)j d ji -∑ j d ij =n i , i∈X (10)

∑Wij=1,i∈D∪X,j∈X (11)∑W ij = 1, i∈D∪X, j∈X (11)

dijWij≤Nmax, i,j∈D∪X (12)d ij W ij ≤N max , i,j∈D∪X (12)

其中,ni为需求点i需求的包裹数,dij无人机从i飞往j处携带的包裹量,Wij为无人机从位置i飞往位置j的次数,Wij=0或Wij=1,Nmax为无人机携带的最大包裹数量,X、D分别为需求点和目的地。Among them, n i is the number of packages required by demand point i, d ij is the amount of packages carried by the drone from i to j, W ij is the number of times the drone flies from location i to location j, W ij = 0 or W ij = 1, N max is the maximum number of packages carried by the UAV, X and D are the demand point and destination respectively.

根据本公开的实施例,为了更清楚地描述本公开的物资运输路径的确定方法,以下通过具体示例进行示例性说明。According to the embodiments of the present disclosure, in order to more clearly describe the method for determining the material transportation route of the present disclosure, specific examples are used below to illustrate.

图3示意性示出了根据本公开实施例的多种设施的位置示意图。Fig. 3 schematically shows the locations of various facilities according to an embodiment of the present disclosure.

根据本公开的实施例,定义此次物资运输路径中共有一个仓库C和六个需求点X,各种设施的位置信息和配送信息如表2和图3所示,第一运输装置为卡车,第二运输装置为无人机。According to the embodiment of the present disclosure, it is defined that there is a warehouse C and six demand points X in this material transportation route. The location information and delivery information of various facilities are shown in Table 2 and Figure 3. The first transportation device is a truck. The second transport device is an unmanned aerial vehicle.

表2Table 2

仓库storehouse 需求点X1 Demand point X 1 需求点X2 Demand point X 2 需求点X3 Demand point X 3 需求点X4 Demand point X 4 需求点X5 Demand Points X 5 需求点X6 Demand Points X 6 横坐标Abscissa 55 -1-1 -1-1 -2-2 11 -3-3 -4-4 纵坐标Y-axis 55 -2-2 33 -1-1 -3-3 11 22 配送信息Delivery Information // 5050 7070 2828 5858 4141 3636

同时,设定表3所示的参数值。At the same time, set the parameter values shown in Table 3.

表3table 3

根据本公开的实施例,计算六个需求点的线性回归方程,从而得到需求点回归函数y=0.2914x+0.9225,如图3所示,无人机资源补充点即卡车到达目的地D的坐标需满足这一方程。D点需要在以C为圆心R为半径的圆上且与需求点线性回归曲线相交,其中 According to the embodiment of the present disclosure, the linear regression equation of six demand points is calculated, so as to obtain the demand point regression function y=0.2914x+0.9225, as shown in Figure 3, the drone resource replenishment point is the coordinates of the truck arriving at the destination D This equation needs to be satisfied. Point D needs to be on a circle with C as the center and R as the radius and intersects the linear regression curve of the demand point, where

根据本公开的实施例,在不同紧急系数下,利用本公开的物资运输路径的确定方法确定的目标规划路径如表4所示。According to the embodiment of the present disclosure, under different emergency coefficients, the target planning route determined by the method for determining the material transportation route of the present disclosure is shown in Table 4.

表4Table 4

根据本公开的实施例,由表4可知,不同情况下选择不同的紧急系数,会导致不同的最优的目标规划路径结果。所以,在配送包裹时,考虑时间成本,选择合适的紧急系数,能达到配送成本最低的结果。According to the embodiment of the present disclosure, it can be known from Table 4 that choosing different emergency coefficients in different situations will lead to different optimal target planning path results. Therefore, when delivering parcels, consider the time cost and choose an appropriate urgency factor to achieve the lowest delivery cost.

图4示意性示出了根据本公开的实施例的物资运输路径的确定装置的框图。Fig. 4 schematically shows a block diagram of an apparatus for determining a material transportation route according to an embodiment of the present disclosure.

如图4所示,物资运输路径的确定装置400包括获取模块410、第一确定模块420、第二确定模块430、计算模块440、第三确定模块450。As shown in FIG. 4 , the device 400 for determining a material transportation route includes an acquisition module 410 , a first determination module 420 , a second determination module 430 , a calculation module 440 , and a third determination module 450 .

获取模块410,用于响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种设施包括仓库和多个需求点;An acquisition module 410, configured to acquire location information and delivery information of various facilities from the database in response to the route planning request, wherein the various facilities include warehouses and multiple demand points;

第一确定模块420,用于基于需求点回归函数和第一运输装置的续航能力,确定第一运输装置的多个第一运输路径,其中,第一运输路径包括仓库的位置信息和第一运输装置的目的地,需求点回归函数是基于多个需求点的位置信息确定的;The first determination module 420 is configured to determine a plurality of first transportation routes of the first transportation device based on the demand point regression function and the battery life of the first transportation device, wherein the first transportation routes include the position information of the warehouse and the first transportation The destination of the device, the demand point regression function is determined based on the location information of multiple demand points;

第二确定模块430,用于针对每个第一运输路径,根据多个需求点的位置信息、目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,第二运输路径表征第二运输装置向多个需求点运输物资的运输路线;The second determining module 430 is configured to, for each first transportation route, determine multiple second transportation routes of the second transportation device according to the location information, destination and delivery information of multiple demand points, wherein the second transportation route Characterize the transportation route for the second transportation device to transport materials to multiple demand points;

计算模块440,用于基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,待筛选路径包括第二运输路径和与第二运输路径对应的第一运输路径;A calculation module 440, configured to calculate the route cost of each route to be screened based on a preset energy-time cost function, wherein the route to be screened includes a second transport route and a first transport route corresponding to the second transport route;

第三确定模块450,用于基于多个待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,目标规划路径用于控制第一运输装置和第二运输装置根据目标规划路径执行物资运输任务。The third determining module 450 is configured to determine the route to be screened corresponding to the minimum route cost as the target planning route based on the route costs of multiple routes to be screened, wherein the target planning route is used to control the first transport device and the second The transportation device executes the material transportation task according to the target planning path.

根据本公开的实施例,通过多个需求点构建的需求点回归函数和第一运输装置的续航能力确定较为合适的多个目的地,对于每个目的地确定第二运输装置与多个需求点之间的多个第二运输路径,从而基于预设能量-时间成本函数确定每种待筛选路径的路径成本,将路径成本最小的待筛选路径确定为整个物资运输的目标路径,有效降低了物资运输的时间成本和资源消耗成本。According to an embodiment of the present disclosure, a plurality of more suitable destinations are determined through the demand point regression function constructed by a plurality of demand points and the battery life of the first transportation device, and for each destination, the second transportation device and the plurality of demand points are determined Multiple second transportation routes among them, so as to determine the path cost of each path to be screened based on the preset energy-time cost function, and determine the path to be screened with the smallest path cost as the target path of the entire material transportation, effectively reducing the cost of materials Time cost and resource consumption cost of transportation.

根据本公开的实施例,第一确定模块420包括线性回归单元、第一确定单元、第二确定单元、第三确定单元。According to an embodiment of the present disclosure, the first determination module 420 includes a linear regression unit, a first determination unit, a second determination unit, and a third determination unit.

线性回归单元,用于对多个需求点的位置信息进行线性回归处理,得到需求点回归函数;A linear regression unit is used to perform linear regression processing on the location information of multiple demand points to obtain a demand point regression function;

第一确定单元,用于根据第一运输装置的多个续航半径和仓库的位置信息,确定与每个续航半径对应的第一运输装置的最远运输区域;The first determination unit is configured to determine the farthest transportation area of the first transportation device corresponding to each cruising radius according to the multiple cruising radii of the first transportation device and the location information of the warehouse;

第二确定单元,用于针对每个最远运输区域,基于位置坐标系根据最远运输区域和需求点回归函数,得到多个运输地址;The second determining unit is used to obtain multiple shipping addresses based on the position coordinate system and the regression function of the farthest shipping area and the demand point for each farthest shipping area;

第三确定单元,用于将多个运输地址中距离多个需求点最近的运输地址确定为一个第一运输路径的目的地。The third determining unit is configured to determine, among the multiple shipping addresses, the shipping address closest to the multiple demand points as the destination of the first shipping route.

根据本公开的实施例,第二确定模块430包括第四确定单元、第五确定单元。According to an embodiment of the present disclosure, the second determining module 430 includes a fourth determining unit and a fifth determining unit.

第四确定单元,用于根据目的地、多个需求点的位置信息和配送信息,确定第二运输装置的多个初始规划路径;A fourth determining unit, configured to determine multiple initial planned routes of the second transportation device according to the destination, location information of multiple demand points, and delivery information;

第五确定单元,用于针对每个初始规划路径,基于电量限制条件对初始规划路径进行路径修改,得到至少一个第二运输路径。The fifth determining unit is configured to, for each initial planned route, modify the initial planned route based on the power limit condition to obtain at least one second transportation route.

根据本公开的实施例,电量限制条件包括返程电量条件、能量守恒条件、单次耗电量条件和飞行开始电量条件,初始规划路径包括多个规划子路径,其中,每个规划子路径表征第二运输装置从目的地或一个需求点前往另一个需求点的运输路径;According to an embodiment of the present disclosure, the power limit condition includes a return power condition, an energy conservation condition, a single power consumption condition, and a flight start power condition, and the initial planned path includes a plurality of planned sub-paths, wherein each planned sub-path represents the first 2. The transportation route of the transportation device from the destination or one demand point to another demand point;

根据本公开的实施例,第五确定单元包括修改子单元、生成子单元。According to an embodiment of the present disclosure, the fifth determining unit includes a modifying subunit and a generating subunit.

修改子单元,用于针对每个规划子路径,在第二运输装置的电量不满足返程电量条件、能量守恒条件、飞行开始电量条件和单次耗电量条件中任一电量条件的情况下,在规划子路径中添加目的地,得到修改后的规划子路径;Modifying the sub-unit is used for each planning sub-path, when the power of the second transportation device does not meet any power condition in the return power condition, energy conservation condition, flight start power condition and single power consumption condition, Add the destination in the planning sub-path to obtain the modified planning sub-path;

生成子单元,用于根据多个修改后的规划子路径,生成第二运输路径。A generating subunit is used to generate a second transport route according to the plurality of modified planned sub-routes.

根据本公开的实施例,第二确定模块430还包括二次修改单元。According to an embodiment of the present disclosure, the second determination module 430 further includes a secondary modification unit.

二次修改单元,用于针对每个第二运输路径,基于包裹限制条件对第二运输路径进行路径修改,得到至少一个新的第二运输路径,其中,包裹限制条件用于确定第二运输路径中第二运输装置是否具有充足的包裹。The secondary modification unit is configured to modify the second transportation route based on the package restriction conditions for each second transportation route to obtain at least one new second transportation route, wherein the package restriction conditions are used to determine the second transportation route Whether the second transport unit has sufficient packages.

根据本公开的实施例,包裹限制条件包括:包裹配送条件、配送数量条件、配送点的配送次数条件和包裹运输量条件;According to an embodiment of the present disclosure, the package restriction conditions include: package delivery conditions, delivery quantity conditions, delivery frequency conditions of delivery points, and package transportation volume conditions;

根据本公开的实施例,二次修改单元至少包括以下之一:第一修改子单元、第二修改子单元、第三修改子单元、第四修改子单元。According to an embodiment of the present disclosure, the secondary modifying unit includes at least one of the following: a first modifying subunit, a second modifying subunit, a third modifying subunit, and a fourth modifying subunit.

第一修改子单元,用于在第二运输路径中第二运输装置从一个需求点向另一个需求点的规划子路径中第二运输装置不满足包裹数量条件的情况下,在规划子路径中插入目的地,以使得第二运输装置在目的地进行包裹补充,得到新的第二运输路径;The first modifying subunit is used for planning the sub-route of the second transport device from one demand point to another demand point in the second transport route when the second transport device does not meet the package quantity condition. Inserting the destination, so that the second transportation device performs package replenishment at the destination to obtain a new second transportation route;

第二修改子单元,用于在第二运输路径中第二运输装置向需求点配送的规划子路径中第二运输装置的包裹数量不满足配送数量条件的情况下,在规划子路径中插入目的地,以使得第二运输装置在目的地中进行包裹的补充进而将预设数量的包裹运输至配送点,得到新的第二运输路径;The second modifying subunit is used to insert the purpose in the planning sub-route when the number of packages of the second transport device in the planning sub-route for delivery to the demand point in the second transport route does not meet the delivery quantity condition ground, so that the second transport device supplements the parcels at the destination and then transports a preset number of parcels to the distribution point to obtain a new second transport route;

第三修改子单元,用于在第二运输路径中多个规划子路径中同一个需求点的配送次数不满足配送次数条件的情况下,将至少一个规划子路径中需求点进行删除,得到新的第二运输路径;The third modification subunit is used to delete at least one demand point in the planned sub-route when the number of deliveries of the same demand point in the multiple planned sub-paths in the second transportation route does not meet the condition of the number of deliveries, to obtain a new the second transport route;

第四修改子单元,用于在第二运输路径中出发地为目的地的规划子路径中第二运输装置的包裹数量不满足包裹运输量条件的情况下,对第二运输装置进行包裹装卸操作。The fourth modification subunit is used to perform package loading and unloading operations on the second transport device when the number of packages of the second transport device in the planned sub-route where the departure point is the destination in the second transport route does not meet the condition of package transport volume .

根据本公开的实施例的模块、单元、子单元中的任意多个、或其中任意多个的至少部分功能可以在一个模块中实现。根据本公开实施例的模块、单元、子单元中的任意一个或多个可以被拆分成多个模块来实现。根据本公开实施例的模块、单元、子单元中的任意一个或多个可以至少被部分地实现为硬件电路,例如现场可编程门阵列(Field ProgrammableGate Array,FPGA)、可编程逻辑阵列(Programmable Logic Arrays,PLA)、片上系统、基板上的系统、封装上的系统、专用集成电路(Application Specific Integrated Circuit,ASIC),或可以通过对电路进行集成或封装的任何其他的合理方式的硬件或固件来实现,或以软件、硬件以及固件三种实现方式中任意一种或以其中任意几种的适当组合来实现。或者,根据本公开实施例的模块、单元、子单元中的一个或多个可以至少被部分地实现为计算机程序模块,当该计算机程序模块被运行时,可以执行相应的功能。Any number of modules, units, and subunits according to the embodiments of the present disclosure, or at least part of the functions of any number of them, may be implemented in one module. Any one or more of modules, units, and subunits according to the embodiments of the present disclosure may be implemented by being divided into multiple modules. Any one or more of modules, units, and subunits according to embodiments of the present disclosure may be at least partially implemented as hardware circuits, such as Field Programmable Gate Array (Field Programmable Gate Array, FPGA), Programmable Logic Array (Programmable Logic Arrays, PLA), system-on-chip, system-on-substrate, system-on-package, Application Specific Integrated Circuit (ASIC), or any other reasonable means of hardware or firmware that can integrate or package circuits It can be realized by any one of software, hardware and firmware, or by a proper combination of any of them. Alternatively, one or more of the modules, units, and subunits according to the embodiments of the present disclosure may be at least partially implemented as a computer program module, and when the computer program module is executed, corresponding functions may be performed.

例如,获取模块410、第一确定模块420、第二确定模块430、计算模块440、第三确定模块450中的任意多个可以合并在一个模块/单元/子单元中实现,或者其中的任意一个模块/单元/子单元可以被拆分成多个模块/单元/子单元。或者,这些模块/单元/子单元中的一个或多个模块/单元/子单元的至少部分功能可以与其他模块/单元/子单元的至少部分功能相结合,并在一个模块/单元/子单元中实现。根据本公开的实施例,获取模块410、第一确定模块420、第二确定模块430、计算模块440、第三确定模块450中的至少一个可以至少被部分地实现为硬件电路,例如现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)、片上系统、基板上的系统、封装上的系统、专用集成电路(ASIC),或可以通过对电路进行集成或封装的任何其他的合理方式等硬件或固件来实现,或以软件、硬件以及固件三种实现方式中任意一种或以其中任意几种的适当组合来实现。或者,获取模块410、第一确定模块420、第二确定模块430、计算模块440、第三确定模块450中的至少一个可以至少被部分地实现为计算机程序模块,当该计算机程序模块被运行时,可以执行相应的功能。For example, any number of the acquisition module 410, the first determination module 420, the second determination module 430, the calculation module 440, and the third determination module 450 can be combined and implemented in one module/unit/subunit, or any one of them A module/unit/subunit can be split into multiple modules/units/subunits. Alternatively, at least part of the functions of one or more modules/units/subunits of these modules/units/subunits can be combined with at least part of the functions of other modules/units/subunits, and combined in one module/unit/subunit realized in. According to an embodiment of the present disclosure, at least one of the acquisition module 410, the first determination module 420, the second determination module 430, the calculation module 440, and the third determination module 450 may be at least partially implemented as a hardware circuit, such as field programmable Gate array (FPGA), programmable logic array (PLA), system-on-chip, system-on-substrate, system-on-package, application-specific integrated circuit (ASIC), or any other reasonable means by which circuits can be integrated or packaged, etc. hardware or firmware, or any one of software, hardware and firmware, or an appropriate combination of any of them. Alternatively, at least one of the acquisition module 410, the first determination module 420, the second determination module 430, the calculation module 440, and the third determination module 450 may be at least partially implemented as a computer program module, and when the computer program module is executed , the corresponding function can be performed.

需要说明的是,本公开的实施例中物资运输路径的确定装置部分与本公开的实施例中物资运输路径的确定方法部分是相对应的,物资运输路径的确定装置部分的描述具体参考物资运输路径的确定方法部分,在此不再赘述。It should be noted that the part of the device for determining the material transportation route in the embodiment of the present disclosure corresponds to the part of the method for determining the material transportation route in the embodiment of the present disclosure. For the description of the device for determining the material transportation route, refer to Material Transportation The part of the determination method of the path will not be repeated here.

图5示意性示出了根据本公开实施例的适于实现上文描述的方法的电子设备的框图。图5示出的电子设备仅仅是一个示例,不应对本公开实施例的功能和使用范围带来任何限制。Fig. 5 schematically shows a block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure. The electronic device shown in FIG. 5 is only an example, and should not limit the functions and scope of use of the embodiments of the present disclosure.

如图5所示,根据本公开实施例的电子设备500包括处理器501,其可以根据存储在只读存储器(Read-Only Memory,ROM)502中的程序或者从存储部分508加载到随机访问存储器(Random Access Memory,RAM)503中的程序而执行各种适当的动作和处理。处理器501例如可以包括通用微处理器(例如CPU)、指令集处理器和/或相关芯片组和/或专用微处理器(例如,专用集成电路(ASIC)),等等。处理器501还可以包括用于缓存用途的板载存储器。处理器501可以包括用于执行根据本公开实施例的方法流程的不同动作的单一处理单元或者是多个处理单元。As shown in FIG. 5, an electronic device 500 according to an embodiment of the present disclosure includes a processor 501, which can be loaded into a random access memory according to a program stored in a read-only memory (Read-Only Memory, ROM) 502 or from a storage part 508. (Random Access Memory, RAM) 503 to perform various appropriate actions and processing. Processor 501 may include, for example, a general-purpose microprocessor (eg, a CPU), an instruction set processor and/or related chipsets and/or a special-purpose microprocessor (eg, an application-specific integrated circuit (ASIC)), and the like. Processor 501 may also include on-board memory for caching purposes. The processor 501 may include a single processing unit or a plurality of processing units for executing different actions of the method flow according to the embodiments of the present disclosure.

在RAM 503中,存储有电子设备500操作所需的各种程序和数据。处理器501、ROM502以及RAM 503通过总线504彼此相连。处理器501通过执行ROM 502和/或RAM 503中的程序来执行根据本公开实施例的方法流程的各种操作。需要注意,所述程序也可以存储在除ROM 502和RAM 503以外的一个或多个存储器中。处理器501也可以通过执行存储在所述一个或多个存储器中的程序来执行根据本公开实施例的方法流程的各种操作。In the RAM 503, various programs and data necessary for the operation of the electronic device 500 are stored. The processor 501 , ROM 502 and RAM 503 are connected to each other through a bus 504 . The processor 501 executes various operations according to the method flow of the embodiment of the present disclosure by executing the programs in the ROM 502 and/or the RAM 503 . It should be noted that the program may also be stored in one or more memories other than ROM 502 and RAM 503 . The processor 501 may also perform various operations according to the method flow of the embodiments of the present disclosure by executing programs stored in the one or more memories.

根据本公开的实施例,电子设备500还可以包括输入/输出(I/O)接口505,输入/输出(I/O)接口505也连接至总线504。系统500还可以包括连接至输入/输出(I/O)接口505的以下部件中的一项或多项:包括键盘、鼠标等的输入部分506;包括诸如阴极射线管(CRT)、液晶显示器(Liquid Crystal Display,LCD)等以及扬声器等的输出部分507;包括硬盘等的存储部分508;以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分509。通信部分509经由诸如因特网的网络执行通信处理。驱动器510也根据需要连接至输入/输出(I/O)接口505。可拆卸介质511,诸如磁盘、光盘、磁光盘、半导体存储器等等,根据需要安装在驱动器510上,以便于从其上读出的计算机程序根据需要被安装入存储部分508。According to an embodiment of the present disclosure, the electronic device 500 may further include an input/output (I/O) interface 505 which is also connected to the bus 504 . System 500 may also include one or more of the following components connected to input/output (I/O) interface 505: an input section 506 including a keyboard, mouse, etc.; including a cathode ray tube (CRT), a liquid crystal display ( Liquid Crystal Display, LCD) etc. and an output section 507 of a speaker and the like; a storage section 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, and the like. The communication section 509 performs communication processing via a network such as the Internet. A driver 510 is also connected to the input/output (I/O) interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 510 as necessary so that a computer program read therefrom is installed into the storage section 508 as necessary.

根据本公开的实施例,根据本公开实施例的方法流程可以被实现为计算机软件程序。例如,本公开的实施例包括一种计算机程序产品,其包括承载在计算机可读存储介质上的计算机程序,该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中,该计算机程序可以通过通信部分509从网络上被下载和安装,和/或从可拆卸介质511被安装。在该计算机程序被处理器501执行时,执行本公开实施例的系统中限定的上述功能。根据本公开的实施例,上文描述的系统、设备、装置、模块、单元等可以通过计算机程序模块来实现。According to the embodiments of the present disclosure, the method flow according to the embodiments of the present disclosure can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable storage medium, where the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication portion 509 and/or installed from removable media 511 . When the computer program is executed by the processor 501, the above-mentioned functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiments of the present disclosure, the above-described systems, devices, devices, modules, units, etc. may be implemented by computer program modules.

本公开还提供了一种计算机可读存储介质,该计算机可读存储介质可以是上述实施例中描述的设备/装置/系统中所包含的;也可以是单独存在,而未装配入该设备/装置/系统中。上述计算机可读存储介质承载有一个或者多个程序,当上述一个或者多个程序被执行时,实现根据本公开实施例的方法。The present disclosure also provides a computer-readable storage medium. The computer-readable storage medium may be included in the device/apparatus/system described in the above embodiments; it may also exist independently without being assembled into the device/system device/system. The above-mentioned computer-readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed, the method according to the embodiment of the present disclosure is realized.

根据本公开的实施例,计算机可读存储介质可以是非易失性的计算机可读存储介质。例如可以包括但不限于:便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM(Erasable Programmable Read Only Memory,EPROM)或闪存)、便携式紧凑磁盘只读存储器(Computer Disc Read-Only Memory,CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中,计算机可读存储介质可以是任何包含或存储程序的有形介质,该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but not limited to: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM (Erasable Programmable Read Only Memory, EPROM) or flash memory), Portable compact disk read-only memory (Computer Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

例如,根据本公开的实施例,计算机可读存储介质可以包括上文描述的ROM 502和/或RAM 503和/或ROM 502和RAM 503以外的一个或多个存储器。For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include one or more memories other than the above-described ROM 502 and/or RAM 503 and/or ROM 502 and RAM 503 .

本公开的实施例还包括一种计算机程序产品,其包括计算机程序,该计算机程序包含用于执行本公开实施例所提供的方法的程序代码,当计算机程序产品在电子设备上运行时,该程序代码用于使电子设备实现本公开实施例所提供的物资运输路径的确定方法。Embodiments of the present disclosure also include a computer program product, which includes a computer program, and the computer program includes program codes for executing the method provided by the embodiments of the present disclosure. When the computer program product is run on an electronic device, the program The code is used to enable the electronic device to implement the method for determining the material transportation route provided by the embodiment of the present disclosure.

在该计算机程序被处理器501执行时,执行本公开实施例的系统/装置中限定的上述功能。根据本公开的实施例,上文描述的系统、装置、模块、单元等可以通过计算机程序模块来实现。When the computer program is executed by the processor 501, the above-mentioned functions defined in the system/device of the embodiment of the present disclosure are performed. According to the embodiments of the present disclosure, the above-described systems, devices, modules, units, etc. may be implemented by computer program modules.

在一种实施例中,该计算机程序可以依托于光存储器件、磁存储器件等有形存储介质。在另一种实施例中,该计算机程序也可以在网络介质上以信号的形式进行传输、分发,并通过通信部分509被下载和安装,和/或从可拆卸介质511被安装。该计算机程序包含的程序代码可以用任何适当的网络介质传输,包括但不限于:无线、有线等等,或者上述的任意合适的组合。In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program can also be transmitted and distributed in the form of a signal on a network medium, downloaded and installed through the communication part 509, and/or installed from the removable medium 511. The program code contained in the computer program can be transmitted by any appropriate network medium, including but not limited to: wireless, wired, etc., or any appropriate combination of the above.

根据本公开的实施例,可以以一种或多种程序设计语言的任意组合来编写用于执行本公开实施例提供的计算机程序的程序代码,具体地,可以利用高级过程和/或面向对象的编程语言、和/或汇编/机器语言来实施这些计算程序。程序设计语言包括但不限于诸如Java,C++,python,“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中,远程计算设备可以通过任意种类的网络,包括局域网(LAN)或广域网(WAN),连接到用户计算设备,或者,可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。According to the embodiments of the present disclosure, the program codes for executing the computer programs provided by the embodiments of the present disclosure can be written in any combination of one or more programming languages, specifically, high-level procedural and/or object-oriented programming language, and/or assembly/machine language to implement these computing programs. Programming languages include, but are not limited to, programming languages such as Java, C++, python, "C" or similar programming languages. The program code can execute entirely on the user computing device, partly on the user device, partly on the remote computing device, or entirely on the remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (for example, using an Internet service provider). business to connect via the Internet).

附图中的流程图和框图,图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上,流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分,上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意,在有些作为替换的实现中,方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如,两个接连地表示的方框实际上可以基本并行地执行,它们有时也可以按相反的顺序执行,这依所涉及的功能而定。也要注意的是,框图或流程图中的每个方框、以及框图或流程图中的方框的组合,可以用执行规定的功能或操作的专用的基于硬件的系统来实现,或者可以用专用硬件与计算机指令的组合来实现。本领域技术人员可以理解,本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合,即使这样的组合或结合没有明确记载于本公开中。特别地,在不脱离本公开精神和教导的情况下,本公开的各个实施例和/或权利要求中记载的特征可以进行多种组合和/或结合。所有这些组合和/或结合均落入本公开的范围。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that includes one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a A combination of dedicated hardware and computer instructions. Those skilled in the art can understand that various combinations and/or combinations can be made in the various embodiments of the present disclosure and/or the features described in the claims, even if such combinations or combinations are not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the various embodiments of the present disclosure and/or the features described in the claims can be combined and/or combined in various ways. All such combinations and/or combinations fall within the scope of the present disclosure.

以上对本公开的实施例进行了描述。但是,这些实施例仅仅是为了说明的目的,而并非为了限制本公开的范围。尽管在以上分别描述了各实施例,但是这并不意味着各个实施例中的措施不能有利地结合使用。本公开的范围由所附权利要求及其等同物限定。不脱离本公开的范围,本领域技术人员可以做出多种替代和修改,这些替代和修改都应落在本公开的范围之内。The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the various embodiments have been described separately above, this does not mean that the measures in the various embodiments cannot be advantageously used in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the present disclosure, and these substitutions and modifications should all fall within the scope of the present disclosure.

Claims (10)

1.一种物资运输路径的确定方法,包括:1. A method for determining a material transportation route, comprising: 响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种所述设施包括仓库和多个需求点;Responding to the route planning request, obtaining location information and delivery information of various facilities from the database, wherein the various facilities include warehouses and multiple demand points; 基于需求点回归函数和第一运输装置的续航能力,确定所述第一运输装置的多个第一运输路径,其中,所述第一运输路径包括所述仓库的位置信息和所述第一运输装置的目的地,所述需求点回归函数是基于多个所述需求点的位置信息确定的;Based on the demand point regression function and the battery life of the first transportation device, determine a plurality of first transportation routes of the first transportation device, wherein the first transportation routes include the location information of the warehouse and the first transportation The destination of the device, the demand point regression function is determined based on the location information of a plurality of the demand points; 针对每个所述第一运输路径,根据多个所述需求点的位置信息、所述目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,所述第二运输路径表征所述第二运输装置向多个所述需求点运输所述物资的运输路线;For each of the first transportation routes, according to the location information of the plurality of demand points, the destination and delivery information, determine a plurality of second transportation routes of the second transportation device, wherein the second transportation routes Characterize the transportation route for the second transportation device to transport the materials to a plurality of demand points; 基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,所述待筛选路径包括所述第二运输路径和与所述第二运输路径对应的第一运输路径;Based on a preset energy-time cost function, calculate the route cost of each route to be screened, wherein the route to be screened includes the second transport route and a first transport route corresponding to the second transport route; 基于多个所述待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,所述目标规划路径用于控制所述第一运输装置和所述第二运输装置根据所述目标规划路径执行物资运输任务。Based on the route costs of the plurality of routes to be screened, the route to be screened corresponding to the minimum route cost is determined as the target planning route, wherein the target planning route is used to control the first transport device and the second The transportation device executes the material transportation task according to the target planned route. 2.根据权利要求1所述的方法,其中,基于需求点回归函数和第一运输装置的续航能力,确定所述第一运输装置的多个第一运输路径,包括:2. The method according to claim 1, wherein, based on the demand point regression function and the endurance capacity of the first transportation device, determining a plurality of first transportation routes of the first transportation device comprises: 对多个所述需求点的位置信息进行线性回归处理,得到所述需求点回归函数;performing linear regression processing on the location information of a plurality of said demand points to obtain said demand point regression function; 根据所述第一运输装置的多个续航半径和所述仓库的位置信息,确定与每个所述续航半径对应的第一运输装置的最远运输区域;Determine the farthest transportation area of the first transportation device corresponding to each of the cruising radii according to the multiple cruising radii of the first transportation device and the location information of the warehouse; 针对每个所述最远运输区域,基于位置坐标系根据所述最远运输区域和所述需求点回归函数,得到多个运输地址;For each of the farthest transportation areas, multiple transportation addresses are obtained based on the location coordinate system according to the farthest transportation area and the regression function of the demand point; 将多个所述运输地址中距离多个所述需求点最近的运输地址确定为一个所述第一运输路径的目的地。Determining the shipping address closest to the multiple demand points among the multiple shipping addresses as the destination of one of the first shipping routes. 3.根据权利要求2所述的方法,其中,所述需求点回归函数如公式(1)所示,所述预设能量-时间成本函数H如公式(2)所示:3. The method according to claim 2, wherein the demand point regression function is as shown in formula (1), and the preset energy-time cost function H is as shown in formula (2): yc=bxc+a (1)y c =bx c +a (1) H=CE+αCT (2)H=C E +αC T (2) 其中,xc、yc分别为需求点回归函数的横、纵坐标,xi、yi为第i个需求点的横、纵坐标,为n个需求点的横、纵坐标的平均值,α为紧急系数,CE为能量消耗成本,CT为等待时间成本,R为续航半径,Eij为第二运输装置从位置i飞往位置j所消耗的能量,Wij为第二运输装置从i位置飞往j位置的次数,Wij=0或Wij=1,A为第一运输装置空载时单位距离消耗能量,ni为需求点i需求的包裹数,A0为增加单位包裹第一运输装置单位距离运输增加的能量,tij为第二运输装置从位置i到达位置j的时间;i,j∈D∪X,X、D分别为需求点和目的地,Tk为第一运输装置从仓库C行驶到D的时间。Among them, x c and y c are the abscissa and ordinate of the demand point regression function respectively, x i and y i are the abscissa and ordinate of the i-th demand point, is the average value of the horizontal and vertical coordinates of n demand points, α is the emergency coefficient, C E is the cost of energy consumption, C T is the cost of waiting time, R is the cruising radius, E ij is the flight of the second transport device from position i The energy consumed at position j, W ij is the number of times the second transport device flies from position i to position j, W ij =0 or W ij =1, A is the energy consumed per unit distance when the first transport device is empty, n i is the number of packages demanded by demand point i, A 0 is the increased energy of the unit distance transportation of the first transport device for increasing the unit package, t ij is the time for the second transport device to reach position j from position i; i,j∈D∪X, X and D are demand points and destinations respectively, and T k is the time for the first transportation device to travel from warehouse C to D. 4.根据权利要求1所述的方法,其中,根据多个所述需求点的位置信息、所述目的地和配送信息,确定第二运输装置的多个第二运输路径,包括:4. The method according to claim 1, wherein, according to the location information of a plurality of said demand points, the destination and delivery information, determining a plurality of second transportation routes of the second transportation device comprises: 根据所述目的地、多个所述需求点的位置信息和所述配送信息,确定所述第二运输装置的多个初始规划路径;determining a plurality of initially planned routes of the second transportation device according to the destination, location information of a plurality of demand points, and the delivery information; 针对每个所述初始规划路径,基于电量限制条件对所述初始规划路径进行路径修改,得到至少一个所述第二运输路径。For each of the initial planning routes, modifying the initial planning route based on the power limit condition to obtain at least one second transportation route. 5.根据权利要求4所述的方法,所述电量限制条件包括返程电量条件、能量守恒条件、单次耗电量条件和飞行开始电量条件,所述初始规划路径包括多个规划子路径,其中,每个所述规划子路径表征所述第二运输装置从所述目的地或一个需求点前往另一个需求点的运输路径;5. The method according to claim 4, the power limit condition includes a return power condition, an energy conservation condition, a single power consumption condition and a flight start power condition, and the initial planning path includes a plurality of planning sub-paths, wherein , each of the planned sub-routes represents the transportation route of the second transportation device from the destination or one demand point to another demand point; 其中,基于电量限制条件对所述初始规划路径进行路径修改,得到至少一个所述第二运输路径,包括:Wherein, the path modification is performed on the initial planning path based on the power limit condition to obtain at least one second transportation path, including: 针对每个所述规划子路径,在所述第二运输装置的电量不满足返程电量条件、能量守恒条件、飞行开始电量条件和单次耗电量条件中任一电量条件的情况下,在所述规划子路径中添加所述目的地,得到修改后的规划子路径;For each of the planned sub-paths, when the power of the second transportation device does not meet any power condition in the return power condition, energy conservation condition, flight start power condition and single power consumption condition, Adding the destination in the planning sub-path to obtain the modified planning sub-path; 根据多个所述修改后的规划子路径,生成所述第二运输路径。The second transportation route is generated according to the plurality of modified planned sub-routes. 6.根据权利要求5所述的方法,其中,在所述第二运输装置为无人机的情况下,所述返程电量条件如公式(3)所示,能量守恒条件如公式(4)所示,单次耗电量条件如公式(5)所示,飞行开始电量条件如公式(6)所示:6. The method according to claim 5, wherein, in the case where the second transportation device is an unmanned aerial vehicle, the return electric quantity condition is as shown in formula (3), and the energy conservation condition is as shown in formula (4). Shown, the single power consumption condition is shown in formula (5), and the flight start power condition is shown in formula (6): eiD≥{F+ F0diD+liD(E+E0diD)}, i∈X (3)e iD ≥{F+ F 0 d iD +l iD (E+E 0 d iD )}, i∈X (3) Eij=∑j∈Neji-∑j∈Neij=F+ F0dij+lij(E+E0dij),i,j∈D∪ (4)E ij =∑ j∈N e ji -∑ j∈N e ij =F+ F 0 d ij +l ij (E+E 0 d ij ), i,j∈D∪ (4) Xx eijWij≤Emax, i∈N, j∈N (5)e ij W ij ≤ E max , i∈N, j∈N (5) eij≥{F+ F0dij+lij(E+E0dij)}+{F+ F0djD+liD(E+ (6)e ij ≥{F+ F 0 d ij +l ij (E+E 0 d ij )}+{F+ F 0 d jD +l iD (E+ (6) E0djD)},i∈X,j∈XE 0 d jD )},i∈X,j∈X 其中,eiD表征从位置i前往目的地D使用的电量,F表征空载的无人机起飞降落消耗的能量:F0表征无人机携带单位包裹起飞降落消耗的能量:diD为无人机从位置i飞往目的地D携带的包裹量,liD为从位置i前往目的地D的距离,E空载无人机单位距离飞行所需能量:E0为增加单位包裹无人机单位距离飞行增加的能量:Eij为无人机从位置i飞往位置j所消耗的能量,N为需求点X和目的地D的集合,Wij为无人机从i位置飞往j位置的次数,Wij=0或Wij=1,eij为无人机从位置i飞往位置j的初始能量,Emax为无人机最大电量。Among them, e iD represents the power used to go from position i to destination D, F represents the energy consumed by the unloaded drone to take off and land: F 0 represents the energy consumed by the drone to carry a unit package to take off and land: d iD is unmanned The amount of packages carried by the drone from location i to destination D, l iD is the distance from location i to destination D, E is the energy required for the unit distance flight of an unloaded drone: E 0 is the added unit of package drone unit Increased energy for distance flight: E ij is the energy consumed by the UAV from position i to position j, N is the set of demand point X and destination D, W ij is the energy consumed by the UAV from position i to position j times, W ij =0 or W ij =1, e ij is the initial energy of the UAV flying from position i to position j, and E max is the maximum power of the UAV. 7.根据权利要求4所述的方法,其中,在对所述初始规划路径进行路径修改之后,还包括:7. The method according to claim 4, wherein, after modifying the initial planned path, further comprising: 针对每个所述第二运输路径,基于包裹限制条件对所述第二运输路径进行路径修改,得到至少一个新的第二运输路径,其中,所述包裹限制条件用于确定所述第二运输路径中所述第二运输装置是否具有充足的包裹。For each of the second transport routes, modify the route of the second transport route based on the package restriction conditions to obtain at least one new second transport route, wherein the package restriction conditions are used to determine the second transport route Whether the second transporter has sufficient packages in the route. 8.根据权利要求7所述的方法,所述包裹限制条件包括:包裹配送条件、配送数量条件、配送点的配送次数条件和包裹运输量条件;8. The method according to claim 7, wherein the parcel restriction conditions include: parcel delivery conditions, delivery quantity conditions, delivery frequency conditions of delivery points, and parcel transportation volume conditions; 其中,所述基于包裹限制条件对所述第二运输路径进行路径修改,得到至少一个新的第二运输路径,至少包括以下之一:Wherein, the route modification is performed on the second transport route based on the package restriction conditions to obtain at least one new second transport route, which at least includes one of the following: 在所述第二运输路径中所述第二运输装置从一个需求点向另一个需求点的规划子路径中所述第二运输装置不满足所述包裹数量条件的情况下,在所述规划子路径中插入所述目的地,以使得所述第二运输装置在所述目的地进行包裹补充,得到所述新的第二运输路径;In the case that the second transportation device does not meet the package quantity condition in the planned sub-route from one demand point to another demand point in the second transportation route, in the planning sub-route inserting the destination into the route, so that the second transport device performs package replenishment at the destination to obtain the new second transport route; 在所述第二运输路径中所述第二运输装置向需求点配送的规划子路径中所述第二运输装置的包裹数量不满足所述配送数量条件的情况下,在所述规划子路径中插入所述目的地,以使得所述第二运输装置在所述目的地中进行包裹的补充进而将预设数量的包裹运输至所述配送点,得到所述新的第二运输路径;In the case that the number of packages of the second transport device in the planned sub-route of the second transport device delivered to the demand point in the second transport route does not meet the delivery quantity condition, in the planned sub-route inserting the destination, so that the second transportation device supplements the packages in the destination and then transports a preset number of packages to the distribution point to obtain the new second transportation route; 在所述第二运输路径中多个所述规划子路径中同一个需求点的配送次数不满足所述配送次数条件的情况下,将至少一个所述规划子路径中所述需求点进行删除,得到所述新的第二运输路径;In the case that the number of deliveries of the same demand point in multiple planned sub-routes in the second transportation route does not meet the condition of the number of deliveries, deleting the demand point in at least one of the planned sub-route, obtaining said new second transport route; 在所述第二运输路径中出发地为所述目的地的规划子路径中所述第二运输装置的包裹数量不满足所述包裹运输量条件的情况下,对所述第二运输装置进行包裹装卸操作。In the case that the number of packages of the second transport device in the planned sub-route whose departure point is the destination in the second transport route does not meet the condition of the package transport volume, wrapping the second transport device Loading and unloading operations. 9.根据权利要求8所述的方法,其中,在所述第二运输装置为无人机的情况下,所述包裹数量条件如公式(7)所示,配送数量条件如公式(8)所示,所述配送次数条件如公式(9)所示,所述包裹运输量条件如公式(10)所示:9. The method according to claim 8, wherein, in the case where the second transport device is an unmanned aerial vehicle, the package quantity condition is as shown in formula (7), and the distribution quantity condition is as shown in formula (8). As shown, the delivery frequency condition is shown in formula (9), and the package transportation volume condition is shown in formula (10): dij≥nj,i,j∈X (7)d ij ≥ n j ,i,j∈X (7) jdji-∑jdij=ni,i∈X (8)j d ji -∑ j d ij = n i , i∈X (8) ∑Wij=1,i∈D∪X,j∈X (9)∑W ij = 1, i∈D∪X, j∈X (9) dijWij≤Nmax,i,j∈D∪X (10)d ij W ij ≤N max ,i,j∈D∪X (10) 其中,ni为需求点i需求的包裹数,dij无人机从i飞往j处携带的包裹量,Wij为无人机从位置i飞往位置j的次数,Wij=0或Wij=1,Nmax为无人机携带的最大包裹数量,X、D分别为需求点和目的地。Among them, n i is the number of packages required by demand point i, d ij is the amount of packages carried by the drone from i to j, W ij is the number of times the drone flies from location i to location j, W ij = 0 or W ij = 1, N max is the maximum number of packages carried by the UAV, X and D are the demand point and destination respectively. 10.一种物资运输路径的确定装置,包括:10. A device for determining a material transportation route, comprising: 获取模块,用于响应于路径规划请求,从数据库中获取多种设施的位置信息和配送信息,其中,多种所述设施包括仓库和多个需求点;An acquisition module, configured to acquire location information and delivery information of various facilities from the database in response to the route planning request, wherein the various facilities include warehouses and multiple demand points; 第一确定模块,用于基于需求点回归函数和第一运输装置的续航能力,确定所述第一运输装置的多个第一运输路径,其中,所述第一运输路径包括所述仓库的位置信息和所述第一运输装置的目的地,所述需求点回归函数是基于多个所述需求点的位置信息确定的;A first determining module, configured to determine a plurality of first transportation routes of the first transportation device based on a demand point regression function and endurance capability of the first transportation device, wherein the first transportation routes include the location of the warehouse information and the destination of the first transportation device, the demand point regression function is determined based on the location information of a plurality of the demand points; 第二确定模块,用于针对每个所述第一运输路径,根据多个所述需求点的位置信息、所述目的地和配送信息,确定第二运输装置的多个第二运输路径,其中,所述第二运输路径表征所述第二运输装置向多个所述需求点运输所述物资的运输路线;The second determining module is configured to, for each of the first transportation routes, determine a plurality of second transportation routes of the second transportation device according to the location information of the plurality of demand points, the destination and delivery information, wherein , the second transportation route represents a transportation route for the second transportation device to transport the materials to a plurality of the demand points; 计算模块,用于基于预设能量-时间成本函数,计算每个待筛选路径的路径成本,其中,所述待筛选路径包括所述第二运输路径和与所述第二运输路径对应的第一运输路径;A calculation module, configured to calculate the route cost of each route to be screened based on a preset energy-time cost function, wherein the route to be screened includes the second transport route and the first transport route corresponding to the second transport route. transportation route; 第三确定模块,用于基于多个所述待筛选路径的路径成本,将与最小的路径成本对应的待筛选路径确定为目标规划路径,其中,所述目标规划路径用于控制所述第一运输装置和所述第二运输装置根据所述目标规划路径执行物资运输任务。The third determining module is configured to determine the path to be screened corresponding to the minimum path cost as the target planning path based on the path costs of the plurality of paths to be screened, wherein the target planning path is used to control the first The transportation device and the second transportation device execute material transportation tasks according to the target planned route.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117114541A (en) * 2023-10-17 2023-11-24 国网浙江省电力有限公司台州供电公司 Emergency supply method and system for electric power materials
CN117114541B (en) * 2023-10-17 2024-01-09 国网浙江省电力有限公司台州供电公司 An emergency supply method and system for electric power supplies

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