CN116596429A

CN116596429A - Material transportation path determining method and material transportation path determining device

Info

Publication number: CN116596429A
Application number: CN202310582215.8A
Authority: CN
Inventors: 李响; 张连昊; 周垂日; 窦泽森; 肖云浩
Original assignee: University of Science and Technology of China USTC
Current assignee: University of Science and Technology of China USTC
Priority date: 2023-05-19
Filing date: 2023-05-19
Publication date: 2023-08-15

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

Material transportation path determining method and material transportation path determining device

Technical Field

The present disclosure relates to the field of path planning technology, and more particularly, to a method for determining a material transportation path, a device for determining a material transportation path, an electronic apparatus, a computer-readable storage medium, and a computer program product.

Background

The last kilometer of material distribution problem in the traditional material transportation path is always the most important ring in logistics distribution, and is a part of limiting the efficiency of the logistics distribution field. At present, the problem of material distribution in the last kilometer generally depends on manpower distribution, and part of enterprises adopt unmanned aerial vehicles to carry out distribution, so that the distribution efficiency can be improved.

However, when the unmanned aerial vehicle is used for material distribution in the related art, the influence of the position of the warehouse on the distribution timeliness is not fully considered, and when the unmanned aerial vehicle distributes among the warehouse and a plurality of demand points, the position of the warehouse is fixed, so that the distribution cost of the whole distribution link is higher, and the waiting cost of users at the demand points is higher.

Disclosure of Invention

In view of this, embodiments of the present disclosure provide a method for determining a material transportation path, a device for determining a material transportation path, an electronic apparatus, a computer-readable storage medium, and a computer program product.

An aspect of an embodiment of the present disclosure provides a method for determining a material transportation path, including:

acquiring position information and distribution information of various facilities from a database in response to a path planning request, wherein the various facilities comprise a warehouse and a plurality of demand points;

determining a plurality of first transportation paths of the first transportation device based on a demand point regression function and the cruising ability of the first transportation device, wherein the first transportation paths comprise position information of a warehouse and a destination of the first transportation device, and the demand point regression function is determined based on the position information of a plurality of demand points;

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 for each first transportation path, wherein the second transportation paths represent transportation routes of the second transportation device for transporting materials to 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.

According to an embodiment of the present disclosure, determining a plurality of first transportation paths of a first transportation device based on a demand point regression function and a cruising ability of the first transportation device includes:

performing linear regression processing on the position information of the plurality of demand points to obtain a demand point regression function;

determining the farthest transportation area of the first transportation device corresponding to each cruising radius according to the cruising radii of the first transportation device and the position information of the warehouse;

for each farthest transportation area, obtaining a plurality of transportation addresses based on a position coordinate system according to the farthest transportation area and a demand point regression function;

the transportation address closest to the plurality of demand points among the plurality of transportation addresses is determined as the destination of one first transportation path.

According to an embodiment of the present disclosure, the demand point regression function is shown in the following first formula, and the preset energy-time cost function H is shown in the following second formula:

y _c ＝bx _c +a

H＝C _E +αC _T

wherein x is _c 、y _c Respectively the horizontal and vertical coordinates, x of the regression function of the demand points _i 、y _i Is the abscissa of the ith demand point,is the average value of the transverse coordinates and the longitudinal coordinates of n demand points, alpha is an emergency coefficient, C _E For energy consumption cost, C _T For waiting time cost, R is the endurance radius, E _ij Energy, W, consumed by the second transporter flying from location i to location j _ij W is the number of times the second transporter flies from the i position to the j position _ij =0 or W _ij =1, a is the energy consumed per unit distance when the first transport device is empty, n _i The number of packages required for the requirement point i, A ₀ To increase the energy per unit distance transported by the first transporting means per unit package, t _ij Time from location i to location j for the second transporter; i, j E D U X, X, D are the demand point and destination, T _k For the time the first transporter travels from warehouse C to D.

According to an embodiment of the present disclosure, determining a plurality of second transportation paths of a second transportation device according to position information, destinations, and distribution information of a plurality of demand points includes:

determining a plurality of initial planning paths of the second transportation device according to the destination, the position information of the plurality of demand points and the distribution information;

and carrying out path modification on the initial planning paths based on the electric quantity limiting conditions for each initial planning path to obtain at least one second transportation path.

According to an embodiment of the present disclosure, the power limiting conditions include a return power condition, an energy conservation condition, a single power consumption condition, and a flight initiation power condition, the initial planned path including a plurality of planned sub-paths, wherein each planned sub-path characterizes a transport path of the second transport device from a destination or one demand point to another demand point;

The method comprises the steps of carrying out path modification on an initial planning path based on an electric quantity limiting condition to obtain at least one second transportation path, and comprising the following steps:

for each planning sub-path, adding a destination in the planning sub-path to obtain a modified planning sub-path under the condition that the electric quantity of the second transportation device does not meet any one of a return electric quantity condition, an energy conservation condition, a flight starting electric quantity condition and a single power consumption condition;

a second transportation path is generated based on the plurality of modified planned sub-paths.

According to an embodiment of the present disclosure, in the case where the second transportation device is an unmanned aerial vehicle, the condition of the return electric quantity is shown in the following first formula, the condition of conservation of energy is shown in the following second formula, the condition of single power consumption is shown in the following third formula, and the condition of the flight start electric quantity is shown in the following fourth formula:

e _iD ≥{F+F ₀ d _iD +l _iD (E+E ₀ d _iD )},i∈X

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∪X

e _ij W _ij ≤E _max ,i∈N,j∈N

e _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

wherein e _iD Characterizing the amount of electricity used from location i to destination D, F characterizes the energy consumed by an empty unmanned aerial vehicle to take off and land: f (F) ₀ The energy consumed by taking off and landing of the unit package carried by the unmanned aerial vehicle is represented: d, d _iD For the amount of packages carried by the unmanned aerial vehicle flying from location i to destination D, l _iD For the distance from location i to destination D, E is the energy required for an empty drone to fly per unit distance: e (E) ₀ Increased energy for increasing unit parcel unmanned aerial vehicle unit distance flights: e (E) _ij For the energy consumed by the unmanned aerial vehicle flying from the position i to the position j, N is the set of the demand point X and the destination D, W _ij For the number of times the unmanned aerial vehicle flies from the i position to the j position, W _ij =0 or W _ij ＝1，e _ij For initial energy of flight of the unmanned aerial vehicle from position i to position j, E _max The maximum electric quantity of the unmanned aerial vehicle is obtained.

According to an embodiment of the present disclosure, after the path modification to the initial planned path, further includes:

and carrying out path modification on the second transportation paths based on package limiting conditions for each second transportation path to obtain at least one new second transportation path, wherein the package limiting conditions are used for determining whether the second transportation devices in the second transportation paths have sufficient packages.

According to an embodiment of the present disclosure, the package constraints include: package delivery conditions, delivery quantity conditions, delivery times conditions of delivery points and package traffic conditions;

wherein the path modification is performed on the second transportation path based on the package limiting condition to obtain at least one new second transportation path, at least comprising one of the following:

under the condition that a second transportation device in a planned sub-path from one demand point to another demand point in the second transportation path does not meet the parcel quantity condition, inserting a destination in the planned sub-path so that the second transportation device supplements parcels at the destination to obtain a new second transportation path;

Under the condition that the number of packages of the second transportation device in a planned sub-path for the second transportation device to be distributed to the demand point in the second transportation path does not meet the distribution number condition, inserting a destination in the planned sub-path, so that the second transportation device supplements the packages in the destination, and then transports the packages with the preset number to the distribution point, and a new second transportation path is obtained;

deleting the demand point in at least one planning sub-path to obtain a new second transportation path under the condition that the distribution times of the same demand point in a plurality of planning sub-paths in the second transportation path do not meet the distribution times condition;

and carrying out package loading and unloading operation on the second transportation device when the number of packages of the second transportation device in the planned sub-path taking the departure place as the destination in the second transportation path does not meet the package transportation quantity condition.

According to an embodiment of the present disclosure, in the case where the second transportation device is an unmanned aerial vehicle, the parcel number condition is shown in the following first formula, the delivery number condition is shown in the following second formula, the delivery number condition is shown in the following third formula, and the parcel traffic condition is shown in the following fourth formula:

d _ij ≥n _j ，i,j∈X

∑ _j d _ji -∑ _j d _ij ＝n _i ,i∈X

∑W _ij ＝1，i∈D∪X,j∈X

d _ij W _ij ≤N _max ,i,j∈D∪X

Wherein n is _i The number of packages required for the requirement point i, d _ij The unmanned aerial vehicle flies from i to the parcel volume carried by j, W _ij For the number of times the unmanned aerial vehicle flies from position i to position j, W _ij =0 or W _ij ＝1，N _max The maximum number of packages carried for the drone, X, D, are the point of demand and destination, respectively.

Another aspect of an embodiment of the present disclosure provides a device for determining a material transportation path, including:

the system comprises an acquisition module, a storage module and a distribution module, wherein the acquisition module is used for responding to a path planning request and acquiring position information and distribution information of various facilities from a database, wherein the various facilities comprise a warehouse and a plurality of demand points;

the first determining module is used for determining a plurality of first transportation paths of the first transportation device based on a demand point regression function and the cruising ability of the first transportation device, wherein the first transportation paths comprise position information of a warehouse and destinations of the first transportation device, and the demand point regression function is determined based on the position information of a plurality of demand points;

the second determining module is used for 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 for each first transportation path, wherein the second transportation paths represent transportation routes of the second transportation device for transporting materials to the plurality of demand points;

The calculation module is used for 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 the third determining module is used for 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 conveying device and the second conveying device to execute the material conveying task according to the target planning path.

Another aspect of an embodiment of the present disclosure provides an electronic device, including: one or more processors; and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described above.

Another aspect of an embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are configured to implement a method as described above.

Another aspect of the disclosed embodiments provides a computer program product comprising computer executable instructions which, when executed, are to implement a method as described above.

According to the embodiment of the disclosure, a plurality of proper destinations are determined through the demand point regression function constructed by the plurality of demand points and the cruising ability of the first transportation device, and a plurality of second transportation paths between the second transportation device and the plurality of demand points are determined for each destination, so that the path cost of each path to be screened is determined based on the preset energy-time cost function, and the path to be screened with the minimum path cost is determined as the target path of the whole material transportation, thereby effectively reducing the time cost and the resource consumption cost of the material transportation.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments thereof with reference to the accompanying drawings in which:

FIG. 1 schematically illustrates an exemplary system architecture to which a method of determining a transport path of a asset may be applied, according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a flow chart of a method of determining a material transport path according to an embodiment of the disclosure;

FIG. 3 schematically illustrates a schematic of the location of various facilities according to an embodiment of the present disclosure;

fig. 4 schematically illustrates a block diagram of a determination device of a material transportation path according to an embodiment of the present disclosure;

Fig. 5 schematically shows a block diagram of an electronic device adapted to implement the method described above, according to an embodiment of the disclosure.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the 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. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.

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 "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

The embodiment of the invention provides a material transportation path determining method and a material transportation path determining device. The method includes obtaining location information and delivery information of a plurality of facilities from a database in response to a path planning request, wherein the plurality of facilities include a warehouse and a plurality of demand points; determining a plurality of first transportation paths of the first transportation device based on a demand point regression function and the cruising ability of the first transportation device, wherein the first transportation paths comprise position information of a warehouse and a destination of the first transportation device, and the demand point regression function is determined based on the position information of a plurality of demand points; 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 for each first transportation path, wherein the second transportation paths represent transportation routes of the second transportation device for transporting materials to 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.

Fig. 1 schematically illustrates an exemplary system architecture 100 to which a method of determining a material transport path may be applied, according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which embodiments of the present disclosure may be applied to assist those skilled in the art in understanding the technical content of the present disclosure, but does not mean that embodiments of the present disclosure may not be used in other devices, systems, environments, or scenarios.

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 a medium for providing a communication link between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired and/or wireless communication links, and the like.

The user may interact with the server 105 via the network 104 using the first terminal device 101, the second terminal device 102, the third terminal device 103, to receive or send messages etc. Various communication client applications, such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, and/or social platform software, etc. (by way of example only) may be installed on the first terminal device 101, the second terminal device 102, the third terminal device 103.

The first terminal device 101, the second terminal device 102, the third terminal device 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

The server 105 may be a server providing various services, such as a background management server (by way of example only) providing support for websites browsed by the user using the first terminal device 101, the second terminal device 102, and the third terminal device 103. The background management server may analyze and process the received data such as the user request, and feed back the processing result (e.g., the web page, information, or data obtained or generated according to the user request) to the terminal device.

It should be noted that, the method for determining a material transportation path provided by the embodiment of the present invention may be performed by one of the server 105, the first terminal device 101, the second terminal device 102, the third terminal device 103, and other servers or server clusters capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103, and/or the server 105. Accordingly, the determining device for the material transportation path provided by the embodiment of the present invention may be generally set in one of the server 105, the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server or the server cluster capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103, and/or the server 105.

It should be understood that the number of terminal devices, networks, servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, servers, as desired for implementation.

Fig. 2 schematically illustrates a flowchart of a method of determining a material transport path according to an embodiment of the present disclosure.

As shown in fig. 2, the method of determining the material transportation path includes operations S201 to S205.

In response to the path planning request, acquiring location information and distribution information of a plurality of facilities from a database, wherein the plurality of facilities include a warehouse and a plurality of demand points, in operation S201;

in operation S202, a plurality of first transportation paths of the first transportation device are determined based on a demand point regression function and a cruising ability of the first transportation device, wherein the first transportation paths include location information of a warehouse and a destination of the first transportation device, the demand point regression function being determined based on the location information of the plurality of demand points;

in operation S203, for each first transportation path, 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, wherein the second transportation paths characterize transportation routes of the second transportation device for transporting the materials to the plurality of demand points;

In operation S204, calculating a path cost of each path to be screened based on a preset energy-time cost function, wherein the path to be screened includes a second transportation path and a first transportation path corresponding to the second transportation path;

in operation S205, the path to be screened corresponding to the minimum path cost is determined as a target planned path based on the path costs of the plurality of paths to be screened, wherein the target planned path is used for controlling the first and second transportation devices to execute the material transportation task according to the target planned path.

According to an embodiment of the present disclosure, the database stores location information of various facilities in the emergency scene in advance. The delivery information may refer to the demand of packages from different demand points, and the second transportation path may refer to a transportation route of the unmanned aerial vehicle between the warehouse and the plurality of demand points.

According to an embodiment of the disclosure, the path planning request may be generated according to a path planning instruction input by a user in an input device, where the input device may include a mobile phone, a computer, and so on. The first transporter may include a large-sized transporter such as a truck, helicopter, etc., which can simultaneously transport a large amount of materials and has a facility for supplementing energy to the second transporter, such as a charging stake, a battery, or a refueling facility, and the second transporter may refer to a small-sized end dispenser such as an unmanned aerial vehicle, an electric vehicle, etc., which has a smaller transport capacity but better mobility than the first transporter.

According to an embodiment of the present disclosure, in response to a path planning request, location information and delivery information of various facilities are acquired from a database, and the location information of the various facilities may be marked in a coordinate system. The method comprises the steps of firstly determining a demand point regression function of path planning according to position information of a plurality of demand points, marking a curve of the demand point regression function at a position in a coordinate system, determining a radius according to the cruising ability of a first transportation device by taking the position information of a warehouse as a circle center, and taking an intersection point of the circle where the radius is located and the curve of the demand point regression function as a destination of the first transportation device, wherein the maximum radius is not more than half of the cruising ability of the first transportation device, so that a plurality of radiuses are determined based on the cruising ability of the first transportation device, and a plurality of first transportation paths can be obtained.

According to an embodiment of the present disclosure, for each first transport path, a plurality of second transport paths of a second transport device are determined according to the destination in the first transport path and the position information of a plurality of demand points, so that one path to be screened is determined according to one second transport path and the first transport path corresponding to the second transport path. And calculating the path cost of each path to be screened based on a preset energy-time cost function, determining the path to be screened with the minimum path cost as a target planning path, transmitting the target planning path to a first conveying device and a second conveying device, so that the first conveying device conveys packages from a warehouse to a destination based on the first conveying path in the target planning path, and the second conveying device distributes the packages at the destination to a plurality of demand points based on the second conveying path in the target planning path.

According to the embodiment of the disclosure, after the position information of different demand points is marked in the position coordinate system, the plurality of position information is subjected to linear regression processing, so that a demand point regression function about the plurality of demand points can be obtained. And determining the farthest transportation area of the first transportation device corresponding to each endurance radius according to the plurality of endurance radii R of the first transportation device and the position information of the warehouse, wherein the farthest transportation area is a circle constructed by taking the position information of the warehouse as a circle center and the endurance radius R.

According to an embodiment of the present disclosure, for each circle (i.e., the furthest transportation area), there may be two intersection points of the circle and the demand point regression function, one of the intersection points being located on a side of the circle near the demand point, the other of the intersection points being located on a side of the circle away from the demand point, the intersection point on the side near the demand point being determined as the destination D at this endurance radius R.

According to an embodiment of the present disclosure, the limit condition for the first transportation device to reach the destination D is as shown in formula (1) and formula (2):

(x _c -x _d ) ² +(y _c -y _d ) ² ＝R ² (1)

wherein x is _c 、y _c Is the abscissa, x of warehouse C _d 、y _d For the abscissa, L, of destination D _max For a maximum transport distance of the first transport device, a cruising ability of the first transport device may be characterized. The maximum transport distance is related to the cruising power (or oil quantity) of the first transport device, if the first transport device is carriedIn the case of standby energy, the maximum transport distance is determined by the energy of the vehicle itself and the standby energy.

According to the embodiment of the disclosure, the linear regression equation (the demand point regression function of the disclosure) is a set of points closest to the demand point to some extent, the first transportation device arrival destination D is on a circle with the radius of the center of the warehouse C as R, and among all points on the circle, the point where the circle intersects with the linear regression equation is the closest point to the center point (the center point of the plurality of demand points) in the comprehensive effect, and selecting this point as the first transportation device arrival point, that is, the resource replenishment point (the destination of the disclosure) can shorten the time for the second transportation device to return from the demand point to the resource replenishment point, improve the distribution efficiency of the materials, and reduce the waiting cost of the user at the demand point.

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):

y _c ＝bx _c +a (3)

Wherein x is _c 、y _c Respectively the horizontal and vertical coordinates, x of the regression function of the demand points _i 、y _i Is the abscissa of the ith demand point,for the average value of the transverse and longitudinal coordinates of n demand points, alpha is a preset emergency coefficient, for example, the average value can be any number such as 1, 2 and the like, C _E For energy consumption cost, C _T For waiting time cost, R is the endurance radius, E _ij Energy, W, consumed by the second transporter flying from location i to location j _ij W is the number of times the second transporter flies from the i position to the j position _ij =0 or W _ij =1, a is the energy consumed per unit distance when the first transport device is empty, n _i The number of packages required for the requirement point i, A ₀ First transporter for increasing unit packageTransport increased energy per unit distance, t _ij Time from location i to location j for the second transporter; i, j E D U X, X, D are the demand point and destination, T _k For the time the first transporter travels from warehouse C to D.

According to an embodiment of the present disclosure, energy consumption cost C _E Mainly comprises the energy consumed by the first conveyor device in the process from the warehouse C to the destination D and the energy consumed by the second conveyor device for transporting the package and going to the destination.

Latency cost C according to embodiments of the present disclosure _T Including the cost of waiting for the user when the first transporter is switched from C to D and the cost of waiting for the user when the second transporter is dispensed. When the D point is too close to the demand point, the transportation time of the first transportation device is too long, and the time cost is too high; when the point D is selected too far from the demand point, the second transportation device can carry out resource replenishment to and fro D for too long when the resources are insufficient, and the time cost can be increased; within the range of the travel distance of the first transport device, a reasonable choice of the location of the destination D reached by the first transport device, i.e. the resource replenishment point of the unmanned aerial vehicle, can have a great influence on the final path cost result.

According to the embodiment of the present disclosure, the unit of the user waiting time cost is different from the unit of the energy cost, and cannot be simply added, so the emergency coefficient α is selected to be used to represent the emergency degree of the user waiting. The magnitude of the emergency factor selection is dependent on a number of factors, as shown in table 1.

TABLE 1

Influence factor	Influence factor trend	Emergency systemTrend of number	Relation of a to influencing factors
				Package value	Increase in size	Increase in size	Positive correlation
Package delivery price	Increase in size	Increase in size	Positive correlation
				Package shelf life	Increase in size	Reduction of	Negative correlation

According to an embodiment of the present disclosure, the delivery information includes the number of packages needed for the demand point. The plurality of initial planned paths of the second transporter are determined based on the destination, the location information of the plurality of demand points, and the delivery information, but because the second transporter itself has limited energy, for example, there may be insufficient energy to travel to the next demand point when the second transporter delivers packages to the plurality of demand points, for each initial planned path, the initial planned path is modified based on the power constraints to ensure that the energy of the second transporter is able to satisfy movement between the plurality of demand points.

It should be noted that the electric quantity referred to in the present disclosure includes not only electric energy, but also chemical energy or a combination of electric energy and chemical energy, such as a second transportation device with hybrid oil and electricity.

According to the embodiment of the disclosure, the return electric quantity condition is to ensure that the second transportation device can ensure that enough energy can be returned to the destination for energy supplement no matter at which demand point, so that the second transportation device is prevented from being paralyzed in the second transportation path and cannot execute subsequent material transportation tasks.

The energy conservation condition is aimed at ensuring that the energy used by the second transportation device between any one location (point of demand or destination) to another location satisfies the law of conservation of energy.

The single power consumption condition is aimed at ensuring that the energy consumed by the second transportation means between any two sites does not exceed the maximum energy of the second transportation means.

The flight initiation charge condition is that the second transporter must meet energy sufficient to fly to the next point of demand and be able to return from the next point of demand to destination D when traveling from one point of demand to another.

According to the embodiment of the disclosure, for each planned sub-path, adding a destination in the planned sub-path to obtain a modified planned sub-path when the electric quantity of the second transportation device does not meet any one of a return electric quantity condition, an energy conservation condition, a flight start electric quantity condition and a single power consumption condition; a second transportation path is generated based on the plurality of modified planned sub-paths.

According to an embodiment of the disclosure, in the case where the second transportation device is an unmanned aerial vehicle, the condition of the return electric quantity is shown in formula (5), the condition of conservation of energy is shown in formula (6), the condition of single power consumption is shown in formula (7), and the condition of the flight start electric quantity is shown in formula (8):

e _iD ≥{F+ F ₀ d _iD +l _iD (E+E ₀ d _iD )}, i∈X (5)

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)

X

e _ij W _ij ≤E _max , i∈N, j∈N (7)

e _ij ≥{F+ F ₀ d _ij +l _ij (E+E ₀ d _ij )}+{F+ F ₀ d _jD +l _iD (E+ (8)

E ₀ d _jD )},i∈X,j∈X

Wherein e _iD Characterizing the amount of electricity used from location i to destination D, F characterizes the energy consumed by an empty unmanned aerial vehicle to take off and land: f (F) ₀ The energy consumed by taking off and landing of the unit package carried by the unmanned aerial vehicle is represented: d, d _iD For the amount of packages carried by the unmanned aerial vehicle flying from location i to destination D, l _iD For the distance from location i to destination D, E is the energy required for an empty drone to fly per unit distance: e (E) ₀ To increase unit packageIncreased energy per distance flight of the unmanned aerial vehicle: e (E) _ij For the energy consumed by the unmanned aerial vehicle flying from the position i to the position j, N is the set of the demand point X and the destination D, W _ij For the number of times the unmanned aerial vehicle flies from the i position to the j position, W _ij =0 or W _ij ＝1，e _ij For initial energy of flight of the unmanned aerial vehicle from position i to position j, E _max The maximum electric quantity of the unmanned aerial vehicle is obtained.

In an exemplary embodiment, due to the limited load capacity of the second transporting device, after a certain number of packages are unloaded from the current demand point, possibly after the second transporting device performs the material transporting task according to the second transporting path, the number of remaining packages is not enough to the number of packages needed by the next demand point, and at this time, the second transporting device needs to return to the destination for replenishing the packages to go to the next demand point. This example is only one case of package constraints, which may also include the number of deliveries per demand point, etc.

According to the embodiment of the disclosure, any one of the planned sub-paths in the second transportation path is judged based on the package limiting condition to determine whether the planned sub-path needs to be modified, so that a modified planned sub-path is obtained, and a new second transportation path is obtained based on a plurality of modified planned sub-paths and/or unmodified planned sub-paths.

According to an embodiment of the present disclosure, the package delivery condition means that the second transportation device is transported from one demand point to another demand point, and the number of packages carried is sufficient.

The delivery quantity condition refers to the quantity of packages delivered to the demand point by the second transportation device to meet the requirement of the delivery information of the delivery point.

The condition of the number of delivery times of the delivery points means that the number of times the second transporting device goes to each delivery point can be only a preset number of times, for example, 1 time.

The parcel traffic condition means that the number of parcels carried by the second transportation means must not exceed the maximum traffic of the second transportation means.

According to an embodiment of the present disclosure, in the case where the second transportation device is an unmanned aerial vehicle, the parcel number condition is shown in formula (9), the delivery number condition is shown in formula (10), the delivery number condition is shown in formula (11), and the parcel traffic condition is shown in formula (12):

d _ij ≥n _j ，i,j ∈X (9)

∑ _j d _ji -∑ _j d _ij ＝n _i , i∈X (10)

∑W _ij ＝1，i∈D∪X,j∈X (11)

d _ij W _ij ≤N _max , i,j∈D∪X (12)

According to an embodiment of the present disclosure, in order to more clearly describe a determination method of a material transportation path of the present disclosure, an exemplary description is made below by way of specific examples.

Fig. 3 schematically illustrates a schematic of the location of various facilities according to an embodiment of the present disclosure.

According to the embodiment of the present disclosure, a warehouse C and six demand points X are defined in the material transportation path, the position information and the distribution information of various facilities are shown in table 2 and fig. 3, the first transportation device is a truck, and the second transportation device is an unmanned plane.

TABLE 2

	Warehouse	Demand point X ₁	Demand point X ₂	Demand point X ₃	Demand point X ₄	Demand point X ₅	Demand point X ₆
								Abscissa of the circle	5	-1	-1	-2	1	-3	-4
Ordinate of the ordinate	5	-2	3	-1	-3	1	2
								Delivery information	/	50	70	28	58	41	36

At the same time, the parameter values shown in table 3 were set.

TABLE 3 Table 3

According to the embodiment of the disclosure, a linear regression equation of six demand points is calculated, so as to obtain a demand point regression function y=0.2914 x+0.9225, and as shown in fig. 3, the coordinates of the unmanned aerial vehicle resource supplement point, that is, the coordinates of the truck reaching the destination D need to satisfy the equation. The point D is required to be on a circle with the center of C as the radius R and is intersected with a linear regression curve of the demand point, wherein

According to an embodiment of the present disclosure, the target planned path determined using the determination method of the material transportation path of the present disclosure is shown in table 4 under different emergency coefficients.

TABLE 4 Table 4

According to the embodiment of the disclosure, as can be seen from table 4, different emergency coefficients are selected under different conditions, which results in different optimal target planned path results. Therefore, when the package is delivered, the time cost is considered, and the proper emergency coefficient is selected, so that the result of lowest delivery cost can be achieved.

Fig. 4 schematically illustrates a block diagram of a determination device of a material transportation path according to an embodiment of the present disclosure.

As shown in fig. 4, the determining apparatus 400 for a material transportation path includes an acquisition module 410, a first determining module 420, a second determining module 430, a calculating module 440, and a third determining module 450.

An obtaining module 410, configured to obtain location information and distribution information of a plurality of facilities from a database in response to a path planning request, where the plurality of facilities includes a warehouse and a plurality of demand points;

a first determining module 420, configured to determine a plurality of first transportation paths of the first transportation device based on a demand point regression function and a cruising ability of the first transportation device, where the first transportation paths include location information of a warehouse and a destination of the first transportation device, and the demand point regression function is determined based on the location information of the plurality of demand points;

A second determining module 430, configured to determine, for each first transportation path, a plurality of second transportation paths of the second transportation device according to the location information, the destination, and the distribution information of the plurality of demand points, where the second transportation paths represent transportation routes of the second transportation device for transporting the materials to the plurality of demand points;

a calculating module 440, configured to calculate a path cost of each path to be screened based on a preset energy-time cost function, where the path to be screened includes a second transportation path and a first transportation path corresponding to the second transportation path;

and a third determining module 450, configured to determine, based on path costs of the multiple paths to be screened, the path to be screened corresponding to the minimum path cost as a target planned path, where the target planned path is used to control the first transportation device and the second transportation device to execute a material transportation task according to the target planned path.

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.

The linear regression unit is used for carrying out linear regression processing on the position information of the plurality of demand points to obtain a demand point regression function;

a first determining unit, configured to determine a farthest transportation area of the first transportation device corresponding to each of the cruising radii according to the plurality of cruising radii of the first transportation device and the position information of the warehouse;

the second determining unit is used for obtaining a plurality of transportation addresses according to the furthest transportation area and the demand point regression function based on the position coordinate system for each furthest transportation area;

and a third determining unit configured to determine a transportation address closest to the plurality of demand points among the plurality of transportation addresses as a destination of one first transportation path.

According to an embodiment of the present disclosure, the second determining module 430 includes a fourth determining unit, a fifth determining unit.

A fourth determining unit for determining a plurality of initial planned routes of the second transportation device according to the destination, the position information of the plurality of demand points, and the distribution information;

and a fifth determining unit, configured to, for each initial planned path, perform path modification on the initial planned path based on the electric quantity limiting condition, and obtain at least one second transportation path.

according to an embodiment of the present disclosure, the fifth determining unit includes a modifying subunit, a generating subunit.

A modification subunit, configured to add, for each planned sub-path, a destination to the planned sub-path when the electric quantity of the second transportation device does not meet any one of a return electric quantity condition, an energy conservation condition, a flight start electric quantity condition, and a single power consumption condition, to obtain a modified planned sub-path;

and the generation subunit is used for generating a second transportation path according to the plurality of modified planning sub-paths.

According to an embodiment of the present disclosure, the second determination module 430 further includes a secondary modification unit.

And a secondary modification unit, configured to modify the second transportation path based on a package constraint condition for determining whether the second transportation device in the second transportation path has sufficient packages, for each second transportation path, to obtain at least one new second transportation path.

according to an embodiment of the present disclosure, the secondary modification unit includes at least one of: the first modification subunit, the second modification subunit, the third modification subunit and the fourth modification subunit.

A first modification subunit, configured to insert a destination in the planned sub-path when the second transportation device does not meet the parcel number condition in a planned sub-path from one demand point to another demand point in the second transportation path, so that the second transportation device performs parcel replenishment at the destination, and obtain a new second transportation path;

a second modification subunit, configured to insert a destination into the planned sub-path when the number of packages of the second transportation device in the planned sub-path, which is delivered to the demand point by the second transportation device in the second transportation path, does not meet the delivery number condition, so that the second transportation device supplements the packages in the destination and then transports the preset number of packages to the delivery point, thereby obtaining a new second transportation path;

A third modification subunit, configured to delete a demand point in at least one planned sub-path to obtain a new second transportation path when the distribution times of the same demand point in the plurality of planned sub-paths in the second transportation path do not meet the distribution times condition;

and a fourth modification subunit, configured to perform a package loading and unloading operation on the second transportation device in the case where the number of packages of the second transportation device in the planned sub-path with the departure point as the destination in the second transportation path does not satisfy the package traffic condition.

Any number of the modules, units, sub-units, or at least some of the functionality of any number of the modules, units, sub-units, or sub-units according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, units, sub-units according to embodiments of the present disclosure may be implemented as split into multiple modules. Any one or more of the modules, units, sub-units according to embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a field programmable gate array (Field Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Arrays, PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or in hardware or firmware in any other reasonable manner of integrating or packaging the circuits, or in any one of or a suitable combination of any of the three. Alternatively, one or more of the modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as computer program modules, which when executed, may perform the corresponding functions.

For example, any 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 combined in one module/unit/sub-unit or any of the modules/units/sub-units may be split into a plurality of modules/units/sub-units. Alternatively, at least some of the functionality of one or more of these modules/units/sub-units may be combined with at least some of the functionality of other modules/units/sub-units and implemented in one module/unit/sub-unit. According to embodiments 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, the third determination module 450 may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable way of integrating or packaging the circuits, or in any one of or a suitable combination of any of the three implementations of software, hardware, and firmware. Alternatively, at least one of the acquisition module 410, the first determination module 420, the second determination module 430, the calculation module 440, the third determination module 450 may be at least partially implemented as a computer program module, which when executed may perform the respective functions.

It should be noted that, in the embodiment of the present disclosure, the determining device portion of the material transportation path corresponds to the determining method portion of the material transportation path in the embodiment of the present disclosure, and the description of the determining device portion of the material transportation path specifically refers to the determining method portion of the material transportation path, which is not described herein.

Fig. 5 schematically shows a block diagram of an electronic device adapted to implement the method described above, according to an embodiment of the disclosure. The electronic device shown in fig. 5 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.

As shown in fig. 5, an electronic device 500 according to an embodiment of the present disclosure includes a processor 501 that can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage section 508 into a random access Memory (Random Access Memory, RAM) 503. The processor 501 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or an associated chipset and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. The processor 501 may also include on-board memory for caching purposes. The processor 501 may comprise a single processing unit or a plurality of processing units for performing different actions of the method flows according to embodiments of the disclosure.

In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 are stored. The processor 501, ROM 502, and RAM 503 are connected to each other by a bus 504. The processor 501 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 502 and/or the RAM 503. Note that the program may be stored in one or more memories other than the ROM 502 and the RAM 503. The processor 501 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in the one or more memories.

According to an embodiment of the present disclosure, the electronic device 500 may also include an input/output (I/O) interface 505, the input/output (I/O) interface 505 also being connected to the bus 504. The system 500 may also include one or more of the following components connected to an input/output (I/O) interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage portion 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, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to an 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, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.

According to embodiments of the present disclosure, the method flow according to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 509, and/or installed from the removable media 511. The above-described functions defined in the system of the embodiments of the present disclosure are performed when the computer program is executed by the processor 501. The systems, devices, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.

The present disclosure also provides a computer-readable storage medium that may be embodied in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present disclosure.

According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples may include, but are not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (EPROM) or flash Memory, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

For example, according to embodiments of the present disclosure, the computer-readable storage medium may include ROM 502 and/or RAM 503 and/or one or more memories other than ROM 502 and RAM 503 described above.

Embodiments of the present disclosure also include a computer program product comprising a computer program comprising program code for performing the methods provided by the embodiments of the present disclosure, the program code for causing an electronic device to implement the methods of determining a transportation path for a material provided by the embodiments of the present disclosure when the computer program product is run on the electronic device.

The above-described functions defined in the system/apparatus of the embodiments of the present disclosure are performed when the computer program is executed by the processor 501. The systems, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.

In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed, and downloaded and installed in the form of a signal on a network medium, and/or installed from a removable medium 511 via the communication portion 509. The computer program may include program code that may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

According to embodiments of the present disclosure, program code for performing computer programs provided by embodiments of the present disclosure may be written in any combination of one or more programming languages, and in particular, such computer programs may be implemented in high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. Programming languages include, but are not limited to, such as Java, c++, python, "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, 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 (e.g., connected via the Internet using an Internet service provider).

The flowcharts 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 the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). 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 the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure and/or in the claims may be combined in various combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, the features recited in the various embodiments of the present disclosure and/or the claims may be variously combined and/or combined without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims

1. A method of determining a material transport path, comprising:

obtaining location information and distribution information of a plurality of facilities from a database in response to a path planning request, wherein the plurality of facilities comprise a warehouse and a plurality of demand points;

determining a plurality of first transportation paths of a first transportation device based on a demand point regression function and a cruising ability of the first transportation device, wherein the first transportation paths comprise location information of the warehouse and a destination of the first transportation device, and the demand point regression function is determined based on the location information of a plurality of the demand points;

determining a plurality of second transportation paths of a second transportation device according to the position information, the destination and the distribution information of a plurality of demand points for each first transportation path, wherein the second transportation paths represent transportation routes of the second transportation device for transporting the materials to 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 the 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 a material transportation task according to the target planning path.

2. The method of claim 1, wherein determining a plurality of first transportation paths for a first transportation device based on a demand point regression function and a cruising ability of the first transportation device comprises:

performing linear regression processing on the position information of a plurality of the demand points to obtain a demand point regression function;

determining the farthest transportation area of the first transportation device corresponding to each continuous voyage radius according to the continuous voyage radii of the first transportation device and the position information of the warehouse;

for each farthest transportation area, obtaining a plurality of transportation addresses based on a position coordinate system according to the farthest transportation area and the demand point regression function;

And determining a transportation address closest to the plurality of demand points from the plurality of transportation addresses as a destination of one first transportation path.

3. The method of claim 2, wherein the demand point regression function is shown in equation (1) and the preset energy-time cost function H is shown in equation (2):

y _c ＝bx _c +a (1)

H＝C _E +αC _T (2)

wherein x is _c 、y _c Respectively the horizontal and vertical coordinates, x of the regression function of the demand points _i 、y _i Is the abscissa of the ith demand point,is the average value of the transverse coordinates and the longitudinal coordinates of n demand points, alpha is an emergency coefficient, C _E For energy consumption cost, C _T For waiting time cost, R is the endurance radius, E _ij Energy, W, consumed by the second transporter flying from location i to location j _ij W is the number of times the second transporter flies from the i position to the j position _ij =0 or W _ij =1, a is the energy consumed per unit distance when the first transport device is empty, n _i The number of packages required for the requirement point i, A ₀ To increase the unit distance transport of the first conveyor of unit packagesTo transfer increased energy, t _ij Time from location i to location j for the second transporter; i, j E D U X, X, D are the demand point and destination, T _k For the time the first transporter travels from warehouse C to D.

4. The method of claim 1, wherein determining a plurality of second transportation paths of a second transportation device based on the location information, the destination, and the delivery information of a plurality of the demand points comprises:

Determining a plurality of initial planned paths of the second transportation device according to the destination, the position information of a plurality of the demand points and the distribution information;

5. The method of claim 4, the charge limiting conditions comprising a return charge condition, an energy conservation condition, a single power consumption condition, and a start of flight charge condition, the initial planned path comprising a plurality of planned sub-paths, wherein each of the planned sub-paths characterizes a transport path of the second transportation device from the destination or one demand point to another demand point;

and performing path modification on the initial planning path based on the electric quantity limiting condition to obtain at least one second transportation path, wherein the path modification comprises the following steps:

for each planning sub-path, adding the destination in the planning sub-path to obtain a modified planning sub-path when the electric quantity of the second transportation device does not meet any electric quantity condition of a return electric quantity condition, an energy conservation condition, a flight starting electric quantity condition and a single power consumption condition;

And generating the second transportation path according to the plurality of the modified planning sub-paths.

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 shown in formula (3), the energy conservation condition is shown in formula (4), the single power consumption condition is shown in formula (5), and the flight start electric quantity condition is shown in formula (6):

e _iD ≥{F+ F ₀ d _iD +l _iD (E+E ₀ d _iD )}, i∈X (3)

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)

X

e _ij W _ij ≤E _max , i∈N, j∈N (5)

e _ij ≥{F+ F ₀ d _ij +l _ij (E+E ₀ d _ij )}+{F+ F ₀ d _jD +l _iD (E+ (6)

E ₀ d _jD )},i∈X,j∈X

7. The method of claim 4, wherein after path modification to the initial planned path, further comprising:

And carrying out path modification on the second transportation paths based on package limiting conditions for each second transportation path to obtain at least one new second transportation path, wherein the package limiting conditions are used for determining whether the second transportation device in the second transportation path has sufficient packages.

8. The method of claim 7, the package constraints comprising: package delivery conditions, delivery quantity conditions, delivery times conditions of delivery points and package traffic conditions;

and carrying out path modification on the second transportation path based on the package limiting condition to obtain at least one new second transportation path, wherein the at least one new second transportation path at least comprises one of the following components:

inserting the destination in the planned sub-path when the second transportation device does not meet the parcel quantity condition in the planned sub-path from one demand point to another demand point in the second transportation path, so that the second transportation device performs parcel replenishment at the destination to obtain the new second transportation path;

inserting the destination in the planned sub-path when the number of packages of the second transportation device in the planned sub-path for the second transportation device to be delivered to the demand point does not meet the delivery number condition, so that the second transportation device supplements the packages in the destination and then transports the preset number of packages to the delivery point, and the new second transportation path is obtained;

Deleting the demand point in at least one planning sub-path under the condition that the distribution times of the same demand point in a plurality of planning sub-paths in the second transportation path do not meet the distribution times condition, so as to obtain the new second transportation path;

and carrying out package loading and unloading operation on the second transportation device under the condition that the package quantity of the second transportation device in the planned sub-path with the departure point as the destination in the second transportation path does not meet the package transportation quantity condition.

9. The method according to claim 8, wherein in the case where the second transportation device is an unmanned plane, the parcel number condition is shown in formula (7), the delivery number condition is shown in formula (8), the delivery number condition is shown in formula (9), and the parcel traffic condition is shown in formula (10):

d _ij ≥n _j ，i,j∈X (7)

∑ _j d _ji -∑ _j d _ij ＝n _i ,i∈X (8)

∑W _ij ＝1，i∈D∪X,j∈X (9)

d _ij W _ij ≤N _max ,i,j∈D∪X (10)

10. A device for determining a transport path for materials, comprising:

a first determining module, configured to determine a plurality of first transportation paths of a first transportation device based on a demand point regression function and a cruising ability of the first transportation device, where the first transportation paths include location information of the warehouse and a destination of the first transportation device, the demand point regression function being determined based on location information of a plurality of the demand points;

a second determining module, configured to determine, for each of the first transportation paths, a plurality of second transportation paths of a second transportation device according to the location information, the destination, and the distribution information of a plurality of the demand points, where the second transportation paths represent transportation routes of the second transportation device for transporting the materials to the plurality of demand points;

the calculation module is used for 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 the second transportation path and a first transportation path corresponding to the second transportation path;

And the third determining module is used for 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 conveying device and the second conveying device to execute a material conveying task according to the target planning path.