CN116739467B

CN116739467B - Circulating delivery path planning method, device and medium based on cloud edge cooperation

Info

Publication number: CN116739467B
Application number: CN202310718262.0A
Authority: CN
Inventors: 屈挺; 雷思雨; 潘扬华; 丁立强; 黄国全
Original assignee: Jinan University
Current assignee: Jinan University
Priority date: 2023-06-16
Filing date: 2023-06-16
Publication date: 2024-02-02
Anticipated expiration: 2043-06-16
Also published as: CN116739467A

Abstract

The application relates to a circulating pick-and-delivery path planning method, a circulating pick-and-delivery path planning device and a circulating pick-and-delivery path planning medium based on cloud edge cooperation, wherein the method comprises the following steps: in the process of carrying out picking and throwing according to the configured first cycle picking and delivering information, determining a current picking and throwing node when the cloud side terminal receives picking and throwing correction information; receiving second cyclic delivery information generated by the target terminal for the inventory correction planning, wherein the second cyclic delivery information is generated by the target terminal based on the first cyclic delivery information and the inventory correction information by utilizing a preset path construction rule, and the target terminal is determined based on the inventory correction information; in the second cycle goods taking and delivering information, detecting corresponding target goods taking paths and goods taking allocation information, and determining the goods taking quantity corresponding to each goods taking point in the target goods taking paths; and circularly taking and delivering goods according to the target taking and delivering path and the corresponding taking and delivering quantity. Through the method and the device, the problem that a cloud end needs to consume a large amount of computing power in an existing circulating goods taking path planning scheme is solved.

Description

Circulating delivery path planning method, device and medium based on cloud edge cooperation

Technical Field

The application relates to the technical field of computer intelligent application, in particular to a circulating pick-and-delivery path planning method, a circulating pick-and-delivery path planning device and a circulating pick-and-delivery path planning medium based on cloud edge cooperation.

Background

In the delivery field, the vehicle path problem refers to that a certain number of users have different cargo demands, a delivery center provides the required cargo for customers, in the process, a fleet needs to organize driving routes under a certain constraint to meet the demands of the customers, and meanwhile, the set transportation requirements are met, for example: the distribution distance is shortest, the distribution cost is smallest, and the distribution time is shortest.

The e-commerce logistics is to make a distribution plan according to manual experience or simple rules, so that the requirements of distribution and return of goods in multiple varieties and small batches cannot be met, and phenomena of station explosion, overlong distribution time, overlong distribution path, empty vehicle and the like occur in the terminal distribution of the medium frequency; in the related art, for the route planning of the cyclic pick-up (Milk-run) of the end delivery from the transfer station to the pick-up node, when the dynamic frequency is generated, the route planning of the end delivery is performed only by the cloud frequently, the calculation power of the cloud consumption is large, the efficiency of the route planning of the end cyclic pick-up is reduced, and the requirement of the route planning of the end cyclic pick-up with high timeliness cannot be met.

At present, aiming at the problems of large consumption of calculation force, low planning efficiency and delayed timeliness of the terminal delivery cycle goods taking planning in the related technology, an effective solution is not proposed yet.

Disclosure of Invention

The embodiment of the application provides a circulating pick-and-delivery path planning method, device and medium based on cloud edge cooperation, which at least solve the problems of large consumption of calculation force, low planning efficiency and delayed timeliness of terminal distribution circulating pick-and-delivery planning in the related technology.

In a first aspect, an embodiment of the present application provides a circulating pickup and delivery path planning method based on cloud edge coordination, including: in the process of carrying out goods picking and casting according to the configured first circulation picking and casting information, determining a current picking and casting node when a cloud side terminal receives picking and casting correction information, wherein the picking and casting correction information is used for representing the change of the picking and casting information of a corresponding picking and casting point; receiving second cyclic delivery information generated by a target terminal for carrying out a picking and correcting planning, wherein the second cyclic delivery information is generated by the target terminal based on the first cyclic delivery information and the picking and correcting planning by utilizing a preset path construction rule, the target terminal is determined based on the picking and correcting information sent by the cloud side terminal, and the target terminal comprises one of a target side terminal and the cloud side terminal which are positioned at the current picking and correcting node; in the second circulation goods taking and delivering information, detecting a corresponding target goods taking path and goods taking allocation information, and determining the goods taking quantity corresponding to each goods taking point in the target goods taking path according to the goods taking quantity allocation information; and circularly taking and delivering goods according to the target taking and delivering path and the corresponding taking and delivering quantity.

In a second aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the round robin delivery path planning method according to the first aspect.

In a third aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the cyclic pick delivery path planning method based on cloud-edge collaboration as described in the first aspect above.

Compared with the related art, the circulating pick-and-delivery path planning method, the circulating pick-and-delivery path planning device and the medium based on cloud edge cooperation are used for determining the current pick-and-delivery node when the pick-and-delivery correction information is received at the cloud terminal in the goods pick-and-delivery process according to the configured first circulating pick-and-delivery information, wherein the pick-and-delivery correction information is used for representing the change of the pick-and-delivery information of the corresponding pick-and-delivery point; receiving second cyclic delivery information generated by a target terminal for carrying out a picking and correcting planning, wherein the second cyclic delivery information is generated by the target terminal based on the first cyclic delivery information and the picking and correcting planning by utilizing a preset path construction rule, the target terminal is determined based on the picking and correcting information sent by the cloud side terminal, and the target terminal comprises one of a target side terminal and the cloud side terminal which are positioned at the current picking and correcting node; in the second circulation goods taking and delivering information, detecting a corresponding target goods taking path and goods taking allocation information, and determining the goods taking quantity corresponding to each goods taking point in the target goods taking path according to the goods taking quantity allocation information; circularly taking and delivering goods according to the target cable throwing path and the corresponding cable throwing quantity; the method comprises the steps of determining a target terminal for correction planning according to the calculation correction information representing the change of the calculation correction information, correcting and planning the first circulation delivery information and the calculation correction information based on a preset path construction rule through the target terminal, so as to generate second circulation delivery information matched with the current delivery requirement, namely, when the calculation scale of a task for correction planning is adapted to a side terminal, correcting and planning the first circulation delivery information and the calculation correction information based on the path construction rule configured on the side terminal, further reducing the calculation pressure of the current circulation delivery information and the calculation correction information, improving the efficiency of data processing, and solving the problems of large consumption of calculation force, low planning efficiency and timeliness lag of the cloud in the terminal delivery circulation delivery planning in related technology.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is a hardware structure block diagram of a terminal of a cyclic delivery path planning method based on cloud edge coordination according to an embodiment of the present application;

FIG. 2 is a flow chart of a round robin delivery path planning method based on cloud edge collaboration in accordance with an embodiment of the present application;

fig. 3 is a block diagram of a cyclic delivery path planning apparatus based on cloud edge collaboration according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described and illustrated below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments provided herein, are intended to be within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the embodiments described herein can be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The term "multi-link" as used herein refers to a link greater than or equal to two links. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.

The method embodiment provided in this embodiment may be executed in a terminal, a computer or a similar computing device. Taking the operation on the terminal as an example, fig. 1 is a hardware structure block diagram of the terminal of the cyclic delivery path planning method based on cloud edge coordination in the embodiment of the present application. As shown in fig. 1, the terminal may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting on the structure of the terminal described above. For example, the terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a round robin delivery path planning method based on cloud edge collaboration in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, implement the above method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

The embodiment provides a circulating pickup and delivery path planning method based on cloud edge cooperation, which operates on the terminal, and fig. 2 is a flowchart of the circulating pickup and delivery path planning method based on cloud edge cooperation according to an embodiment of the application, as shown in fig. 2, and the flowchart includes the following steps:

step S201, determining a current pickup node when the cloud terminal receives pickup correction information in the process of picking up and picking up goods according to the configured first circulation pickup information, wherein the pickup correction information is used for representing the change of pickup information of a corresponding pickup point.

In this embodiment, the execution main body for executing the shipping method in this embodiment of the present application is an edge terminal in a coordinated control system based on Yun Bian coordination, that is, a pickup terminal held by a pickup vehicle or a pickup person associated with each pickup node, where a path construction rule for executing a pickup correction plan or a pre-constructed path planning model is deployed at the corresponding edge terminal; meanwhile, after receiving or repairing the circulation delivery information matched with the current collecting and delivering task and regularly marking the circulation delivery information, the side terminal executes the collecting and delivering tasks from the current collecting and delivering node to each waiting and delivering node and returning to the corresponding transfer station according to the corresponding circulation delivery information.

In this embodiment, before the present, all the pickup vehicles or pickup personnel corresponding to the pickup nodes perform the cargo pickup according to the cyclic pickup information configured before the present, where the corresponding cyclic pickup information includes the pickup task arranged for the corresponding pickup execution object (including the pickup vehicle or the pickup personnel associated with the side terminal), specifically including, but not limited to, the node information (node position and node name) corresponding to the next pickup node of the corresponding pickup execution object, the pickup amount corresponding to the corresponding to-be-picked node, and the time window (the pickup service time period) corresponding to the corresponding to-be-picked node; in this embodiment, the current performing of the picking and delivering process is based on first cyclic picking and delivering information configured at a corresponding side terminal, where the first cyclic picking and delivering information is generated by dynamically generating the whole delivery system and performing correction planning based on corresponding historical terminal cyclic picking and delivering information and real-time acquired picking and delivering correction information, and the historical terminal cyclic picking and delivering information includes cyclic picking and delivering information meeting a daily picking and delivering task and cyclic picking and delivering information obtained by sequentially performing picking and delivering correction planning based on the pre-planned cyclic picking and delivering information; in this embodiment, the cable-casting correction planning includes cable-casting correction, path correction and cable-casting object correction, for example, when cable-casting correction is performed, cable-casting vehicles with a load capacity of 5t are set to start from the transfer station, cable-casting nodes a, B and C at the tail end are sequentially served, cable-casting services are performed, cable-casting nodes a, B and C return to the transfer station, cable-casting amounts of cable-casting nodes a, B and C are respectively 1t, 0.5t and 1.5t, and cable-casting amounts of cable-casting nodes B become 1t, so that only cable-casting amounts of cable-casting nodes B need to be adjusted at this time.

Step S202, receiving second cyclic delivery information generated by the target terminal for carrying out the inventory correction planning, wherein the second cyclic delivery information is generated by the target terminal for carrying out the inventory correction planning based on the first cyclic delivery information and the inventory correction information by utilizing a preset path construction rule, and the target terminal is determined based on the inventory correction information sent by the cloud terminal, and comprises one of a target side terminal and a cloud terminal which are positioned at a current inventory node.

In this embodiment, when the side terminal corresponding to the current collecting node performs collecting based on the circulating pick-up and delivery information matched with the current collecting task, a generating object of the circulating pick-up and delivery information matched with the current collecting task is determined, that is, when the collecting dynamic change is generated, whether collecting correction planning is performed by the side terminal is determined according to the size of the planning calculation scale caused by the dynamic change, so that the calculation power consumed by cloud for collecting correction planning is reduced, and the efficiency of correction planning is also improved; when the size of the planning calculation scale caused by the dynamic change exceeds the processing capacity of the corresponding side terminal, for example: the method relates to the change of the cable mission carried by the dynamic change which can be met by other cable subjects.

In this embodiment, based on the cloud-edge dynamic linkage mechanism, according to different cable-to-cable linkage modes adopted by various different levels of dynamic factors, in this embodiment, cable-to-cable linkage modes are divided into three different levels: first-level linkage, second-level linkage and third-level linkage, and determines a target terminal for executing modification planning according to different cable-throw linkage modes, for example: when the influence of the cable-stayed correction information corresponding to the dynamic property on cable-stayed can be completed by one cable-stayed execution object associated with the side terminal corresponding to the current cable-stayed node, the cable-stayed correction planning is executed to generate a second circulation of taking and delivering information as the corresponding side terminal; also for example: when the corresponding calculation correction information is calculated as calculation task quantity is large, calculation execution objects corresponding to a plurality of side terminals are required to be scheduled to be completed, and the calculation is performed in a second-level linkage mode, and at the moment, calculation correction planning is performed to generate second circulation goods taking and delivering information which is calculated as a cloud; for another example: when the change of the picking and throwing task corresponding to the picking and throwing correction information requires the picking and throwing execution corresponding participation associated with all side terminals in the corresponding distribution system and carries out global linkage planning, three-level linkage is carried out, and at the moment, the picking and throwing correction planning is carried out to generate second circulation picking and delivering information which is a cloud.

In this embodiment, the second cyclic delivery information is cyclic delivery information obtained by correcting the first cyclic delivery information by using a genetic algorithm and the pick-up correction information, and is also corresponding terminal delivery information.

In step S203, in the second cycle of picking and delivering information, the corresponding target picking path and picking allocation information are detected, and according to the picking allocation information, the picking amount corresponding to each picking point in the target picking path is determined.

In this embodiment, when the second cyclic delivery information is generated by the cloud, the second cyclic delivery information at least includes the cable-picking path and cable-picking allocation information of the side terminal corresponding to the current cable-picking node, and when the second cyclic delivery information is generated by the side terminal itself for correction planning, the second cyclic delivery information is updated based on the first cyclic delivery information in advance, and the side terminal is the terminal for planning, that is, the terminal for executing the cable-picking task, and does not involve the influence on other side terminals, so that the cable-picking path and cable-picking allocation information corresponding to the second cyclic delivery information is the target cable-picking path and cable-picking allocation information corresponding to the side terminal.

In this embodiment, after determining the target cable routing path, a corresponding cable routing amount is configured for each to-be-cable routing node through cable routing allocation information, so that cable routing execution objects associated with the side terminals implement cable routing tasks according to the target cable routing path and the corresponding cable routing amount.

Step S204, circularly taking and delivering goods according to the target picking and delivering path and the corresponding picking and delivering quantity.

Through the steps S201 to S204, in the process of picking up and delivering goods according to the configured first cycle, determining the current picking-up node where the picking-up correction information is located when the cloud terminal receives the picking-up correction information, where the picking-up correction information is used to represent the change of the picking-up information of the corresponding picking-up point; receiving second cyclic delivery information generated by the target terminal for carrying out the inventory correction planning, wherein the second cyclic delivery information is generated by the target terminal by utilizing a preset path construction rule and carrying out the inventory correction planning based on the first cyclic delivery information and the inventory correction information, and the target terminal is determined based on the inventory correction information sent by the cloud terminal and comprises one of a target side terminal and a cloud terminal positioned at a current inventory node; in the second cycle goods taking and delivering information, detecting a corresponding target goods taking path and goods taking allocation information, and determining the goods taking quantity corresponding to each goods taking point in the target goods taking path according to the goods taking quantity allocation information; circularly taking and delivering goods according to the target picking path and the corresponding picking quantity; the method comprises the steps of determining a target terminal for correction planning according to the calculation correction information representing the change of the calculation correction information, correcting and planning the first circulation delivery information and the calculation correction information based on a preset path construction rule through the target terminal, so as to generate second circulation delivery information matched with the current delivery requirement, namely, when the calculation scale of a task for correction planning is adapted to a side terminal, correcting and planning the first circulation delivery information and the calculation correction information based on the path construction rule configured on the side terminal, further reducing the calculation pressure of the current circulation delivery information and the calculation correction information, improving the efficiency of data processing, and solving the problems of large consumption of calculation force, low planning efficiency and timeliness lag of the cloud in the terminal delivery circulation delivery planning in related technology.

In some embodiments, the method for determining the target terminal based on the solicitation correction information includes the steps of:

and 21, acquiring a pre-configured cable-casting object from the cable-casting correction information, wherein the cable-casting object comprises a pre-configured first side terminal, and the first side terminal is pre-configured by a cloud side terminal according to the acquired cable-casting quantity change value.

In this embodiment, the solicitation correction information is generated by detecting, by the cloud, a solicitation node and a solicitation amount change caused by a user performing a solicitation task on the terminal distribution system, that is, the cloud determines, according to the user's order of the solicitation task, node information and solicitation amount information of a newly added node to be solicited, and after generating the solicitation correction information, the cloud has pre-configured a corresponding side terminal, and the solicitation node to be solicited and the solicitation amount on the solicitation node pre-configured to the side terminal; it can be understood that the cloud end is pre-configured with an edge terminal, but the edge terminal is still executing the picking and throwing task corresponding to the original first cycle picking and delivering information, that is, picking and throwing is performed according to the picking and throwing path corresponding to the cloud end terminal and the picking and throwing amount corresponding to each picking and throwing node in the picking and throwing path in the first cycle picking and delivering information, and when the edge terminal is pre-configured with the edge terminal for completing the newly added picking and throwing task, the picking and throwing correction planning is required according to the existing picking and throwing path and the picking and throwing amount and the picking and throwing node and the picking and throwing amount in the newly added picking and throwing task.

Step 22, according to the target information corresponding to the first side terminal, judging whether the first side terminal only comprises the target side terminal.

In this embodiment, whether the pre-configured side terminal only includes the target side terminal is determined according to the target information, that is, the cloud end determines whether the target side terminal corresponding to the current collecting and throwing node can complete the newly added collecting and throwing task, and when the target side terminal is determined to complete the newly added collecting and throwing task, it indicates that the target side terminal can perform collecting and throwing correction planning by itself to generate second circulation goods taking and delivering information, that is, collecting and throwing correction planning by the cloud end is not needed.

And step 23, determining the target terminal as the target side terminal when the first side terminal only comprises the target side terminal.

And step 24, determining the target terminal as a cloud terminal under the condition that the first side terminal comprises the target side terminal and the second side terminal, wherein the second side terminal comprises one of all side terminals which currently participate in the cable and are except the target side terminal.

In this embodiment, when it is determined that the target side terminal cannot complete the newly added pickup task, it indicates that pickup change caused by the dynamics needs to be completed by pickup execution objects (pickup personnel or pickup vehicles) corresponding to the plurality of side terminals, at this time, the calculation scale involved in the corresponding pickup correction planning is large, and the target side terminal cannot process the calculation scale, then the pickup correction planning needs to be performed through the cloud, so that each side terminal performs pickup according to the target pickup path and the pickup configuration information corresponding to the second cycle delivery information under the condition that the pickup execution objects corresponding to the plurality of side terminals participate.

Acquiring a pre-configured cable projection object from cable projection correction information in the steps, wherein the cable projection object comprises a pre-configured first side terminal, and the first side terminal is pre-configured by a cloud side terminal according to the acquired cable projection quantity change value; judging whether the first side terminal only comprises the target side terminal according to the target information corresponding to the first side terminal; determining the target terminal as the target side terminal under the condition that the first side terminal only comprises the target side terminal; under the condition that the first side terminal comprises a target side terminal and a second side terminal, determining that the target terminal is a cloud side terminal, wherein the second side terminal comprises one of all side terminals participating in the calculation of the cloud side, except the target side terminal, so that the judgment and selection of the terminals for carrying out calculation of the cloud side are realized, the frequency of calculation of the cloud side is reduced, and the efficiency of data processing is improved.

In some embodiments, the target terminal performs a pickup correction planning based on the first cycle pickup information and the pickup correction information by using a preset path construction rule, and generates second cycle pickup information, including the following steps:

Step 31, when the target terminal acquires the corrected cable-throwing information, determining a corresponding cable-throwing linkage mode based on the corrected cable-throwing information, and determining first cable-throwing node groups corresponding to each cable-throwing linkage mode and first node information groups corresponding to each first cable-throwing node group, wherein each cable-throwing linkage mode is associated with a first cable-throwing side terminal for cable throwing, the first cable-throwing node groups comprise all first cable-throwing nodes for cable throwing corresponding to the first cable-throwing side terminal, and the first cable-throwing nodes at least comprise first cable-throwing nodes in a current cable-throwing path corresponding to the first cyclic delivery information.

In this embodiment, the defined pickup linkage mode includes a first-level linkage, a second-level linkage and a third-level linkage, where the first-level linkage refers to that when a dynamic property (that is, pickup correction information) is generated, the corresponding terminal distribution system processes the dynamic property by scheduling a pickup task associated with a single side terminal, and uses a single pickup execution object that has been allocated with a task in the first cycle pickup information and still has a spare time to perform a response; the second-level linkage is to locally link the scheduling of a plurality of side terminals by the cloud, and a plurality of receiving execution objects with spare time are used for dealing with the tasks allocated in the first circularly acquired delivery information which is configured at present; the three-level linkage refers to global linkage to change the picking tasks of all picking execution objects, and the resources are re-integrated and distributed through the cloud, or external resources are introduced, for example: the delay delivery time is considered to process large dynamics, specifically, long-time traffic jam of a plurality of roads is caused by the holiday sunrise peak period, a large number of picking and throwing execution corresponds to the fact that tasks cannot be completed according to the pre-planning, the picking and throwing execution objects which are not involved in the pre-planning and the resources of the picking and throwing execution objects which are completed in the pre-planning are integrated, the dynamics and the rest of picking and throwing tasks are integrated, and finally new circulation picking and delivering information is obtained through an algorithm.

In this embodiment, after the cable linkage mode is selected, the corresponding first cable-to-cable node group is determined, for example: when the first-stage linkage is determined, the corresponding first collecting and throwing node group is all first collecting and throwing nodes in the collecting and throwing paths originally planned by the target side terminal, namely, the first collecting and throwing paths in the current collecting and throwing paths corresponding to the first circulating delivery information, and the current collecting and throwing paths are the first collecting and throwing side terminals; when the second-level or third-level linkage is performed, the first cable-throwing node group is a set of cable-throwing nodes including cable-throwing nodes to be cable-throwing of the cable-throwing execution object associated with the side terminal A and cable-throwing nodes to be cable-throwing of the cable-throwing execution object associated with the side terminal B, wherein the cable-throwing nodes to be cable-throwing of the cable-throwing execution object associated with the side terminal A correspond to the first cable-throwing nodes in the current cable-throwing path corresponding to the first circulating delivery information.

And 32, the target terminal carries out coding processing on each first node information group by utilizing an integer coding principle to generate a corresponding cable node initial coding population, wherein the coding of the cable node initial coding population is used for representing the node serial number corresponding to each first cable node in the first cable node information group.

Step 33, the target terminal determines a cable cost correction amount corresponding to a cable linkage mode according to a difference between cable cost corresponding to modified cable route information obtained by decoding the cable node initial coding population and a preset cable cost threshold value, and constructs a corresponding fitness evaluation function based on cable constraint data corresponding to the cable cost correction amount and a preset route construction rule, wherein the cable cost is determined according to cable quantity corresponding to a cable route and cable implementation time, and the cable constraint data comprises one of the following: the cable projection capacity constraint and the time window constraint, and the fitness evaluation function is used for evaluating the cable projection cost to-be-corrected degree of the planned correction cable projection path.

In this embodiment, when calculating the corresponding cable cost, the cable cost corresponding to the cable path is determined according to the inherent transportation cost of the cable vehicle, the transportation cost in unit mileage, the corresponding cost of cable personnel and the preset penalty cost (for example, the cable service time exceeds the preset value), that is, after the corresponding cable path is planned, the cable cost corresponding to the cable path can be obtained by adopting the existing means; in this embodiment, the fitness evaluation function measures the difference between the cable cost of the corresponding corrected cable path and the preset cable cost threshold value by evaluating the correction degree of the cable cost of the planned corrected cable path, for example: setting a cable casting cost threshold value as M, setting the cable casting cost of a corrected cable casting path obtained by decoding an initial cable casting node coding population as K, and guiding candidate genetic operation through a fitness evaluation function if K is larger than M, so that the cable casting cost of the cable casting path obtained by decoding a corresponding cable casting node coding population obtained after genetic operation is more and more close to the cable casting cost threshold value M or smaller than M, and obtaining a corresponding target cable casting node coding population. It can be understood that the fitness function may be a function for guiding the development direction of the subsequent genetic operation, so that the cable projection cost of the cable projection path obtained by decoding the obtained cable projection node coding population is infinitely close to the cable projection cost threshold or lower than the cable projection cost threshold by guiding the subsequent genetic operation.

And 34, performing genetic operation on the initial coding population of the collecting and throwing node by using the fitness evaluation function as a preset fitness function of the genetic algorithm by the target terminal to generate a target collecting and throwing node coding population, wherein the genetic operation comprises selection, intersection and variation.

In this embodiment, the number of iterations of selection, crossover and mutation corresponding to the genetic operation is such that the difference between the cable cost of the cable path obtained after decoding the obtained cable node coding population and the cable cost threshold is within a set range, for example: the difference is 0, at which point the iteration may be terminated.

Step 35, the target terminal updates node information corresponding to a first cable node in the cable path corresponding to the initial cable path information according to the node serial number corresponding to the target cable node coding population, generates a target cable path, and generates cable distribution information according to the pre-configured cable quantity in the corrected cable path information and the initial distribution cable quantity corresponding to the initial cable path information, wherein the second cyclic delivery information comprises the target cable path and the cable distribution information.

Through the steps 31 to 35, the generation of the second circulation delivery information based on the correction planning during the dynamic generation is realized, the calculation pressure of the cloud is further reduced, and the data processing efficiency is improved.

In some embodiments, the method includes generating the cable distribution information according to the pre-configured cable distribution amount in the corrected cable distribution information and the initial distribution cable distribution amount corresponding to the initial cable distribution path information, including the steps of:

step 41, searching a first cable projection node which is not updated in the node in the cable projection path corresponding to the initial cable projection path information, and obtaining an original cable projection node.

Step 42, obtaining a first cable distribution amount corresponding to an original cable distribution node in the initial cable distribution amount, and obtaining a first pre-distribution cable distribution amount corresponding to the first cable distribution node for updating the node from the pre-distribution cable distribution amounts.

Step 43, associating the first cable distribution amount and the first pre-distribution cable distribution amount with cable distribution nodes in the target cable distribution path to generate cable distribution information.

Searching a first collecting node which is not updated in the node in the collecting path corresponding to the initial collecting path information in the steps to obtain an original collecting node; acquiring a first cable distribution amount corresponding to an original cable distribution node in the initial cable distribution amount, and acquiring a first preset cable distribution amount corresponding to the first cable distribution node for node updating from the preset cable distribution amounts; and correlating the first cable distribution amount with the cable distribution node in the target cable distribution path to generate cable distribution information, so as to generate the cable distribution information.

In some embodiments, the target terminal is a cloud terminal, and the target terminal determines a corresponding cable-casting linkage mode based on the corrected cable-casting information, and determines a first cable-casting node group corresponding to each cable-casting linkage mode and a first node information group corresponding to each first cable-casting node group, which is implemented through the following steps:

and 51, the cloud side terminal determines a second cable-batch node to be cable-batch pre-configured to the target side terminal and a second pre-configuration cable-batch quantity corresponding to the second cable-batch node from cable-batch correction information.

Step 52, the cloud terminal determines a corresponding cable-casting linkage mode and a first cable-casting node group corresponding to the cable-casting linkage mode and a first node information group corresponding to the first cable-casting node group based on a first planning parameter and a preset first cable-casting correction plan, wherein the first planning parameter comprises a second cable-casting node and a second preset cable-casting quantity, and the first cable-casting correction plan comprises: and correcting the cable amount corresponding to the side terminal corresponding to the second cable node to be distributed.

Through the steps 51 to 52, the cloud executes the revision plan, and determines the projection node group and the projection node information of the initial code, so as to provide data for the cloud to realize the revision plan.

In some embodiments, the target terminal is a target side terminal, and the target terminal determines a corresponding cable-cable linkage mode based on the corrected cable-cable linkage information, and determines a first cable-cable node group corresponding to each cable-cable linkage mode and a first node information group corresponding to each first cable-cable node group, which is implemented through the following steps:

step 61, the target side terminal determines a third cable node to be cable and a third pre-configuration cable amount corresponding to the third cable node pre-configured to the target side terminal from cable correction information;

step 62, the target side terminal determines a corresponding cable-cable linkage mode and a first cable-cable node group corresponding to the cable-cable linkage mode and a first node information group corresponding to the first cable-cable node group based on a second planning parameter and a preset second cable-cable correction plan, wherein the second planning parameter comprises a third cable-cable node and a third preset cable-based quantity, and the second cable-cable correction plan at least comprises one of the following; and correcting the cable amount of the target side terminal at the corresponding cable node, and correcting the cable path formed by the cable node to be cable at the target side terminal.

Through the steps 61 to 62, the target side terminal executes the revision plan, and determines the cable node group and cable node information of the initial code, so as to provide data for realizing the revision plan for the target side terminal.

In some embodiments, in the second cycle of picking and delivering information, detecting a corresponding target picking path and picking and delivering allocation information, and determining a picking amount corresponding to each picking point in the target picking path according to the picking amount allocation information, including the following steps:

and 71, detecting the cable projection configuration information corresponding to the side terminal associated with each cable projection point to be cable projected from the second circulation delivery and distribution information, wherein the cable projection configuration information comprises candidate target information of a third side terminal distributed by each cable projection point and cable projection point distribution quantity.

And step 72, obtaining target information corresponding to the target side terminal to obtain first target information.

Step 73, detecting candidate target information as the pickup configuration information of the first target information in all the pickup configuration information corresponding to the second cycle pickup delivery information;

and 74, generating a target cable casting path based on the cable casting point corresponding to the detected cable casting configuration information, and taking the cable casting point distribution quantity corresponding to the detected cable casting configuration information as the cable casting quantity corresponding to the corresponding cable casting point.

Detecting the cable configuration information corresponding to the side terminal associated with each cable throwing point to be cable thrown from the second circulation cargo delivery and distribution information in the steps, wherein the cable configuration information comprises candidate target information of a third side terminal distributed by each cable throwing point and cable throwing point distribution quantity; acquiring target information corresponding to a target side terminal to obtain first target information; detecting candidate target information as the first target information in all the picking configuration information corresponding to the second cycle picking delivery information; and generating a target cable projection path based on the cable projection point corresponding to the detected cable projection configuration information, and determining the target cable projection path and cable projection distribution information corresponding to the target side terminal by taking the cable projection point distribution quantity corresponding to the detected cable projection configuration information as the cable projection quantity corresponding to the corresponding cable projection point.

In some optional embodiments, the model corresponding to the preset path building rule is as follows:

CR∑ _j∈R ∑ _k∈K α _0jk is the fixed departure cost of the vehicle; CV sigma _i≠j∈S ∑ _k∈K α _ijk d _ij The transportation variable cost for the hauling vehicle; PF [ Σ _i∈S,k∈K max(t _ik -b _i ,0)+∑ _i∈S,k∈K max(a _i -t _ik ,0)]Penalty cost for the illegal time window; r is the terminal demand cable casting point set, R= {1,2,3 … …, n }; s represents a {1} -U R transfer station and a set of demand throwing nodes; 0 represents a transfer station, and the demand cable casting node set is 1,2,3, … … and n; k represents a collection of vehicles; ML represents the maximum mileage of the vehicle; q _r Representing the bulk cargo quantity of a demand throwing node R, wherein R is E R; p is p _r Collecting cargo quantity of a node R for demand, R epsilon R; v is the running speed of the throwing vehicle; cap is the maximum load of the hauling vehicle; a, a _i The earliest start service time of the node i is thrown; b _i The latest start service time of the node i is thrown; t is t _ik The time for actually reaching the node i for the vehicle k is thrown; t (T) _i Service time required by the cable-casting node i cable-casting; d, d _ij For the distance from the cable node i to the cable node j, i is not equal to j epsilon S; CV is the unit transportation cost of the vehicle; CR is the starting cost of the vehicle; f (f) _ik Representing the load of delivery vehicle K when it leaves node i, i e S, K e K; m is a very large positive number; alpha _ijk Is a 0-1 variable, and indicates whether the cable vehicle v passes through the cable node j from the cable node i, i is not equal to j epsilon S, and K epsilon K; b _ijk Is a 0-1 variable, which indicates whether the throwing vehicle K serves a throwing node R, R epsilon R, K epsilon K; the PF is the penalty factor that violates the time window.

Constraint conditions:

1. each cable-throwing node only needs one cable-throwing vehicle service, and the following conditions are satisfied:

2. the transfer station vehicle is balanced in and out, satisfies: sigma (sigma) _j∈R ∑ _k∈K α _0jk ＝∑ _j∈R ∑ _k∈K α _j0k ；

3. The continuity of the running time of the vehicle k is ensured, and the following conditions are satisfied:

4. all delivery tasks are completed in working time, and the following conditions are satisfied:

5. When the transfer station starts, the loading capacity of the vehicle is smaller than the maximum capacity of the vehicle, and the following conditions are satisfied:

6. the loading capacity of the vehicle after the service of the vehicle k to any one of the vehicle nodes in all paths is finished is smaller than the maximum capacity of the vehicle, and the following conditions are satisfied:

the following steps are performed based on a genetic algorithm:

1. encoding and decoding

Chromosome coding is carried out by adopting an integer coding mode, and the specific coding mode is as follows: assuming that n throwing nodes are arranged, and the maximum number of the throwing vehicles allowed to be used is k, the length of the chromosome is n+k-1, and the expression forms of the dyeing are random arrangements of 1 to (n+k-1); for example, assume that there are a total of 6 drop nodes and that at most 3 vehicles are allowed to be used to serve all of the drop nodes, one possible chromosome 12734856 in which 7 and 8 represent the starting points that divide the drop node 123456 by 3 parts, i.e., by 3 paths, the specific corresponding drop scheme is as follows:

cable throw path 1: starting point 0- & gt taking-in node 1- & gt taking-in node 2- & gt starting point 0;

and (2) a cable throwing path: starting point 0- & gt taking-in node 3- & gt taking-in node 4- & gt starting point 0;

and (3) a cable throwing path: departure point 0- & gt taking-in node 5- & gt taking-in node 6- & gt departure point 0.

2. Fitness function

In this embodiment, a method of applying a penalty to the cable-cast path violating the constraint is adopted to make each cable-cast path decoded meet the load capacity constraint and the time window constraint, and the calculation formula of the cable-cast total cost is as follows:

f(s)＝c(s)+α×q(s)+βw(s)

s is a scheme of solicitation converted by individuals; f(s) is the total cost of the current inventory scheme; c(s) is formula (1); q(s) is the sum of the load constraints violated by each path; alpha is a penalty for violating the load constraint; w(s) is the sum of the time window constraints violated by each path; beta is a penalty for violating the time window constraint; k is a collection of vehicles; v= {0,1,2, …, N } is the set of all nodes n= {1,2, …, N } is the set of the casting nodes; f (f) _0k The loading capacity for the vehicle k leaving the cable center; f (f) _jk The vehicle load capacity after the end of the service of the truck cable-throwing node k is provided; x is x _ijk Whether the truck k starts from the node i and goes to the node j; cap is the maximum loading capacity of the truck; m is a sufficiently large positive number; n is the number of the throwing nodes; t is t _i Time for the vehicle to reach customer i; b _i Is the right time window for client i.

The optimization problem of pursuing maximization of the objective function is solved, and the adaptability of the optimization problem is directly corresponding to the objective function; for an optimization problem in which the objective function is pursued to minimize, its Fitness is the inverse of the objective function, and according to this rule, the Fitness function Fitness(s) =1/f(s).

3. Initializing a population

In the embodiment, an initial population is constructed by adopting a random initialization mode, assuming that the population number is NIND, the number of collecting nodes is N, and the transfer station allows K vehicles to conduct collecting service at most, then any individual in the initial population is randomly arranged from 1 to (N+K-1), and the population size is set to be 50.

4. Genetic evolution manipulation

The evolution operation of the genetic algorithm mainly comprises three operation operators of selection, crossing and mutation, which form the core of the strong searching capability of the genetic algorithm, simulate the evolution process of the natural organism and generate a generation and generation population by a winner and obsolete mode.

(1) Selection operation

The selection operation reflects the principle of survival of the right in the natural biological evolution, and selects high-quality individuals through the fitness so as to discard poor individuals, and the main effect is to avoid the deletion of genes and improve the calculation efficiency and convergence capacity of the algorithm. Common selection operations include roulette selection, tournament selection, random traversal sampling selection, and the like. The embodiment of the application adopts the operation of binary tournament selection, namely, the selection of the binary tournament is that two individuals are compared, the individual with larger fitness value is selected and put into the offspring population, and the operation is repeated until the new population scale reaches the original population scale. If the population size is set to N, the method needs to be circulated for N times, two individuals are selected randomly for comparison in each circulation process, and individuals with larger fitness values are selected.

(2) Crossover operation

Crossover operations produce individuals that perform better by exchanging genetic material between individuals. According to the characteristics of the optimization problem of the distribution subsystem, the embodiment of the application adopts the following crossing mode:

assume that there are two parent individuals, parent 1:1 2 3 4 5 6, parent 2:6 5 4 3 2 1.

Two crossover locations xx and yy are randomly selected, e.g., xx=3, yy=4, then the crossover segments are:

parent 1:1 2|3 4|5 6;

parent 2:6 5|4 3|2 1;

then, the intersection of parent 2 is moved to the front of parent 1, and the same thing moves the intersection of parent 1 to the front of parent 2, at which time the two parent individuals become:

parent 1:4 3 1 2 3 4 5 6;

parent 2:3 4 6 5 4 3 2 1;

marking repeated gene sites in individuals, deleting repeated genes, and obtaining two new offspring individuals:

offspring 1:4 3 1 2 5 6;

progeny 2:3 4 6 5 2 1.

(3) Mutation operation

The mutation operation can maintain the diversity of individuals in the population so as to prevent the optimization problem from converging earlier in the iteration process and sinking into the local optimum condition. According to the characteristics of the optimization problem of the distribution subsystem, the embodiment of the application adopts the following variation mode:

the following parent individuals are assumed, the parent: 1 2 3 4 5 6.

Two mutation positions xx and yy are randomly selected, for example xx=3 and yy=5, and then the variant offspring individuals are:

and (5) offspring: 1 2 5 4 3 6.

5. End optimization

The condition for ending optimization in the genetic algorithm in the embodiment of the application is whether the iteration number reaches the maximum iteration number which is initially set, and after the maximum iteration number is reached, stopping iteration and outputting an optimization result of the distribution subsystem; the maximum iteration number is set to 500 times in the embodiment of the application.

The following further describes a circulating pickup and delivery path planning method based on cloud edge collaboration in the embodiment of the application:

and (3) correcting and planning:

the dynamic linkage mechanism based on the cloud-edge has the core idea that the linkage mode is divided into three different grades, namely primary linkage, secondary linkage and tertiary linkage according to different linkage modes adopted by dynamic factors of different grades. Correspondingly, the linkage of different grades is used for coping with different types (intensity) of dynamic factors, and the correction planning pursues a new optimal state.

Dynamic level determination

The linkage operation is characterized by linkage, wherein any unit can be diffused to the system after being affected by the dynamic property, so that the system is doubled and unstable, and the influence on the operation of the system is different due to different dynamic degrees. The specific dynamic strength value mode is as follows:

L＝f _D (T _i ,S ^Δ )

S ^Δ ＝F _IoT (T _i )

Wherein L represents the intensity of dynamic property, S ^Δ Representing dynamic state, T _i Is the moment when the dynamics occur. L is simultaneously subjected to T _i And S is ^Δ Influence. F (F) _IoT And f _D Respectively representing an IoT environment (internet of things environment, real-time data collected by the internet of things) and a correspondence. In this context, the dynamic classes are classified into three classes according to the degree of influence on the system, the intensities of which are L respectively ₁ ，L ₂ ，L ₃ . (1) when L is less than or equal to 0; the dynamic performance does not influence the system operation; (2) When L is more than 0 and less than or equal to L ₁ When in use; the dynamics only affects a single object, defining it as a first level of dynamics; (3) When L ₁ <L≤L ₂ When the dynamic property affects a plurality of associated objects in the system, the dynamic property is defined as secondary dynamic property; (4) When L ₂ <L≤L ₃ The degree of influence of the dynamics is diffused to the whole system level, and is defined as three-level dynamics.

The relation between the dynamic state and the moment of dynamic occurrence, the dynamic state refers to the situation of each link in the current system at the moment of dynamic occurrence, the position of each dispatcher, the position of each goods, the link reason of dynamic occurrence and the like.

The dynamic strength is mainly judged according to the residual capacity of each vehicle in the pre-plan, and if the influence of the dynamic can be met by only the vehicle allowance of one vehicle, the dynamic strength is called primary dynamic; if a plurality of vehicle (not all vehicles) margins are required to meet, the method is called secondary dynamic; if all the vehicle margins are predicted to meet the requirement or all the vehicles cannot meet the requirement, the three-level dynamic property is called.

The influence of various dynamic properties can be classified into two types, one type of the existing client demand quantity changes (the existing client adds a demand order) and the other type of the newly added client (clients ordering, delivery vehicles are bad and other dynamic properties which are not in the pre-planning); 1) For increasing the dynamic property of the client demand, if the distribution task allowance of the original client in the pre-planning can meet the newly increased demand; (2) The newly increased customer demand only needs the planned vehicles with allowance in the pre-plan, one vehicle can finish the newly increased customer demand, and the two types are classified in the first-level dynamic property; the increased demand and newly added customers that cannot be solved by a change in the delivery mission of one vehicle, but the delivery mission of multiple vehicles (not all pre-planned vehicles) can be solved by a change in the delivery mission is called secondary dynamics; the second level is not solved by the third level of dynamics.

Primary linkage

And calling a model and algorithm calculation of the edge terminal. When the dynamic factor is generated, the system will handle this dynamic by scheduling individual objects, using individual dispatchers that have been tasked in the pre-plan, but still have spare time.

1) Task volume correction

In the process of pre-planning execution, when certain dynamic performance occurs, only the demand of the original task is required to be adjusted, and the original transport vehicle and the original driving path are not required to be changed, and the corresponding mode is called quantity correction, for example: in the pre-planning scheme, vehicles with the load capacity of 5t start from a transfer station, the terminal cable-throwing node A, cable-throwing node B and cable-throwing node C are sequentially served, the cable-throwing nodes A, cable-throwing node B and cable-throwing node C return to the transfer station after delivery service, the cable-throwing amounts corresponding to the cable-throwing nodes A, cable-throwing node B and cable-throwing node C are respectively 1t, 0.5t and 1.5t, but because the cable-throwing node B encounters an emergency, the cable-throwing amount becomes 1t, only the cable-throwing amount of the cable-throwing node B needs to be adjusted at the moment, and the original transport vehicle (the load capacity of 5 t) and the travel route (the transfer station-A-B-C-transfer station) are kept unchanged.

2) Path correction

When a certain dynamic state occurs in the process of pre-planning execution, the pre-planned transportation plan is disabled, and the original transportation vehicles and the demand are not changed by only modifying the pre-distribution path, so that the corresponding mode is called path correction. For example, in the original transportation plan, vehicles with the carrying capacity of 5t start from a transfer station, serve for a cable casting node A, a cable casting node B and a cable casting node C in terminal distribution in sequence, return to the transfer station after distribution service, the cable casting quantities of the cable casting node A, the cable casting node B and the cable casting node C are respectively 1t, 0.5t and 1.5t, and when the cable casting node D temporarily has a cable casting task with the cable casting quantity of 1t, the driving route is only required to be adjusted from the relay station to the cable casting node A to the cable casting node B to the cable casting node C to the transfer station to the cable casting node A to the cable casting node C to the cable casting node D to the transfer station, and the cable casting vehicle is kept unchanged.

Obtaining parameters: the reasons for dynamic generation (the cable throwing node points cable throwing amount change or the newly increased cable throwing node requirement), the new cable throwing amount of the cable throwing node, the distribution task of the cable throwing node, the position and the cable throwing amount of the newly increased cable throwing node, the difference of the cable throwing amount of the next access node of each vehicle subtracted from the residual capacity of each vehicle at the current moment (used for judging whether the residual capacity can serve the newly increased cable throwing node), and the position of the next cable throwing node accessed by each cable throwing vehicle.

The first-level dynamics needs to judge whether to use quantity correction or path correction according to the influence of the dynamics caused by quantity correction (the quantity of the cable-operated nodes on a single or multiple routes changes and the residual capacity of the vehicle still can meet the fluctuation of the cable-operated quantities), or whether to cause the cable-operated quantity to be increased (the demand is added by the existing clients in the preplanning) or the cable-operated nodes to be increased (the order is suddenly generated by the clients which are not involved in the preplanning). The existing cable batch node in the pre-plan adds cable batch quantity, and the vehicle capacity can meet the newly added cable batch quantity under the original distribution task, and then the quantity correction is invoked; the path correction is used if the dynamics of newly added and added nodes cannot be met or are newly added.

Number correction step

For example, the system collects an increased amount of the solicitation node B, which is served by the vehicle 1 in the pre-plan, and updates the amount of the solicitation node B in the delivery task of the vehicle 1. If the amount of the cable-casting nodes is increased, the cable-casting amount of the cable-casting node B and the cable-casting node D is expected to be increased, the cable-casting node B is expected to be served by the vehicle 1, the cable-casting node D is expected to be served by the vehicle 2, and the cable-casting amount of the cable-casting node B and the cable-casting node D in the distribution tasks of the vehicles 1 and 2 is modified. Similarly, the cable-to-cable change of the cable-to-cable node only affects the situation in one vehicle interior.

Path correction step

The newly added cable throwing node D collected by the system (cable throwing amount newly added to the quantity correction of single cable throwing node cannot be solved, the cable throwing node is deleted from the original path, the point is regarded as the newly added cable throwing node) in consideration of path correction, tasks are allocated in the pre-planning, the spare time and the vehicle capacity are still enough (the newly added cable throwing amount is smaller than the cable throwing amount of the vehicle residual loading amount-next access node), the distribution member set is T= {1,2, …, i, …, T }, and the access client sequence corresponding to each distribution member is c _i I epsilon T, finding out the pick-up node D and the dispatcher i with the smallest next visit position of the dispatcher, and inserting the pick-up node D into c _i Find the shortest access scheme c of newly added delivery path _i′ I' ∈T. Updating the dispatcher i dispatch task c _i′ . Two newly added cable-drop nodes D and E are allocated tasks in the pre-planning, the distribution members with enough spare time and enough vehicle capacity (the sum of the cable-drop amounts of the newly added clients is smaller than the cable-drop amount of the vehicle-next access node) are gathered as T= {1,2, …, i, …, T }, and the corresponding access client sequence of each distribution member is c _i I epsilon T, respectively finding out a pickup node D, a pickup node E and a dispatcher with the smallest next access position, and simultaneously inserting the pickup node D and the pickup node E into c if the pickup node D and the pickup node E are the dispatcher i _i Find the minimum access scheme c of newly added delivery route _i′ I' ∈T. Updating the dispatcher i dispatch task c _i′ . And the like, when a plurality of newly added cable-throwing nodes can be simultaneously serviced by one vehicle.

Two-stage linkage

The cloud end is uploaded, and a cloud end model and algorithm calculation are called, so that the problem that primary linkage cannot be processed is mainly solved, and the requirement of large processing task amount is met. The scheduling of a plurality of objects is partially linked through the cloud, and a plurality of dispatchers who have been assigned tasks in the pre-planning and still have free time are used for coping.

1) Correction of distribution personnel

In performing the pre-planning, when a large dynamic factor occurs, the original dispatcher configuration needs to be adjusted. For example, when a certain dispatcher has a sudden factor, a series of tasks of the original collecting and throwing node A, the original collecting and throwing node B and the original collecting and throwing node C cannot be completed, at the moment, the system needs to perform local optimization calculation at the cloud end, planning correction is performed by combining other spare dispatcher resources in the pre-planning and the current dynamic factors, and the dispatcher is nearby to complete the original tasks.

Obtaining parameters: reasons for dynamic occurrence (addition of the number of the cable-to-cable nodes, addition of the number of cable-to-cable nodes), new cable-to-cable quantity of the cable-to-cable nodes, paths of cable-to-cable nodes with the new added cable-to-cable quantity, positions of the new added cable-to-cable nodes and cable-to-cable quantity, differences of cable-to-cable quantity of the next cable-to-cable node subtracted from the remaining capacity of each vehicle at the current moment (used for judging whether the remaining capacity can serve the newly added cable-to-cable node), and positions of the next cable-to-cable node accessed by each vehicle

Correction step of distribution personnel:

the path 1 is a transfer station-cable-throwing node A-cable-throwing node B-cable-throwing node C-cable-throwing node D-transfer station, and cable-throwing quantity of two cable-throwing node points C and cable-throwing node D is increased. If the cable throwing node point C is deleted, cable throwing amount of the cable throwing nodes A, B and D is smaller than the vehicle loading amount, and the cable throwing amount of the cable throwing nodes D is deleted, the cable throwing amount of the cable throwing nodes A, B and C is larger than the vehicle loading amount, then the path 1 executes a transfer station, namely the cable throwing node A, the cable throwing node B, the cable throwing node D and a transfer station, and the cable throwing node C is used as a newly added cable throwing node to be inserted into a cable throwing path which can serve the cable throwing node recently; if the three cable throwing nodes, namely the cable throwing node A, the cable throwing node B and the cable throwing node C, are deleted to be smaller than the vehicle loading capacity, and the cable throwing node C is deleted to be larger than the vehicle loading capacity, repeating the operation; if delete the cable node CThe method comprises the steps that the cable casting quantity of three cable casting nodes, namely cable casting node A, cable casting node B and cable casting node D, is smaller than the vehicle loading quantity, the cable casting quantity of three cable casting nodes, namely cable casting node D, cable casting node B and cable casting node C, is smaller than the vehicle loading quantity, and a new path is selected as to which new path is the smallest by reinserting the cable casting node D into other paths and reinserting the cable casting node C into other paths in comparison with the path 1 deleting cable casting node C; if the cable casting node C and the cable casting node D need to be deleted at the same time, the cable casting node C and the cable casting node D are newly added, tasks are allocated in the pre-planning, the distribution members with enough spare time and enough vehicle capacity (the sum of the newly added cable casting amount is smaller than the cable casting amount of the vehicle residual loading amount-the cable casting amount of the next cable casting node) are gathered as T= {1,2, …, i, …, T }, and the sequence of accessing the cable casting nodes corresponding to each distribution member is C _i I epsilon T, respectively finding out the minimum access positions of the client pick-up node C, the pick-up node D and the dispatcher, namely the dispatcher i and the dispatcher j, and respectively inserting the pick-up node C and the pick-up node D into C _i ,c _j Find the minimum access scheme c of newly added delivery route _i′ ,c _j′ I ', j' e T, update dispatcher i and j dispatch task c _i′ ,c _j′ And a plurality of newly added cable-throwing node points need a plurality of cable-throwing vehicle services.

And collecting the collecting node A, the collecting node B and the collecting node C which are required to be redistributed and collected by the system, wherein tasks are distributed in the pre-planning, the distribution member set with the spare time is T= {1,2, …, i, … and T }, the access client sequence set corresponding to each distribution member is C, and the collecting node A, the collecting node B and the collecting node C are sequentially inserted into each path in C to find a scheme C' with the minimum newly added distribution path. The dispatcher's dispatching task C' is updated.

And (3) three-stage linkage.

Uploading the cloud end, and calling a model and algorithm calculation of the cloud end. The method mainly solves the problem that one-level and two-level linkage cannot be processed, and changes the access plans of all objects through global linkage. The resources are re-integrated and distributed through the cloud, or external resources are introduced, and the delay delivery time is considered to process large dynamics. For example, a long-time traffic jam of a plurality of roads is caused by a peak period of holidays, a large number of delivery personnel cannot complete tasks according to pre-planning, delivery personnel not involved in the pre-planning and delivery personnel resources completed by the pre-planning are integrated, meanwhile, the dynamics and the rest tasks are integrated, and finally, new delivery personnel scheduling and path planning results are obtained through an algorithm. Weather causes such as storm surge or typhoon logging in, etc., all the distribution staff cannot execute the distribution tasks, and the problem of discarding part of the tasks or negotiating with clients to adjust the distribution time is properly considered.

Parameters: the reasons for dynamic occurrence (the number of the cable-in nodes is increased ), the new cable-in number of the cable-in nodes, the path of the cable-in nodes with the new increased cable-in number, the position of the newly increased cable-in nodes and the cable-in number, the difference of the cable-in number of the next cable-in node subtracted from the residual capacity of each vehicle at the current moment (used for judging whether the residual capacity can serve the newly increased cable-in node) and the position of each vehicle for accessing the next cable-in node.

The influence of the dynamic performance is used for judging which of global optimization, repayment and demand change is used, the problems that all two-level linkage cannot be solved are subjected to global optimization preferentially, the problem that the global optimization cannot be solved is considered, and which scheme cost is the lowest in the repayment and the demand change is selected.

Global optimization: summarizing the dispatcher who does not complete the task, the dispatcher who does not distribute the task and the dispatcher who returns the completion task to the starting point in the pre-planning as a dispatcher set, summarizing all the incomplete tasks and the newly added tasks as a task set, and solving the new dispatching path planning problem for the task set and the dispatcher set.

Repacking: and newly starting unused vehicles in the pre-planning or vehicles completing the pre-planning task to serve newly added pickup nodes.

Demand variation: when the dynamic performance caused by typhoon weather and other reasons is realized, the original plan execution is continued for the areas which can be distributed, and the distribution time is postponed by negotiating with clients for the affected areas.

The method comprises the following specific steps: the increase of the customer demand cannot be solved by a two-level dynamic solution, and the situation that the total operation cost is the lowest in the three schemes of global optimization, repacking and demand change is selected.

The embodiment also provides a circulating pick-and-delivery path planning device based on cloud edge cooperation, which is used for realizing the above embodiment and the preferred embodiment, and is not described again. As used below, the terms "module," "unit," "sub-unit," and the like may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

Fig. 3 is a block diagram of a cyclic delivery path planning based on cloud edge collaboration according to an embodiment of the present application, and as shown in fig. 3, the apparatus includes a determining module 31, a receiving module 32, a processing module 33, and an executing module 34, where,

The determining module 31 is configured to determine, in a process of picking up and throwing goods according to the configured first cycle delivery information, a current picking-up node where the picking-up correction information is located when the cloud terminal receives the picking-up correction information, where the picking-up correction information is used to represent a change of the picking-up information of the corresponding picking-up point.

The receiving module 32 is coupled to the determining module 31, and is configured to receive second cyclic delivery information generated by performing a delivery-in correction planning on a target terminal, where the second cyclic delivery information is generated by the target terminal by using a preset path construction rule and performing the delivery-in correction planning on the basis of the first cyclic delivery information and the delivery-in correction information, and the target terminal is determined on the basis of the delivery-in correction information sent by the cloud terminal, and includes one of a target side terminal and the cloud terminal that are located at the current delivery-in node.

The processing module 33 is coupled to the receiving module 32, and is configured to detect a corresponding target cable projection path and cable projection allocation information in the second cycle pick-and-place information, and determine a cable projection amount corresponding to each cable projection point in the target cable projection path according to the cable projection amount allocation information.

And the execution module 34 is coupled with the processing module 33 and is used for circularly taking and delivering goods according to the target taking and delivering path and the corresponding taking and delivering quantity.

In some embodiments, the circulating pick-and-delivery path planning device based on cloud edge coordination is further configured to obtain a pre-configured pick-and-delivery object from pick-and-delivery correction information, where the pick-and-delivery object includes a pre-configured first edge terminal, and the first edge terminal is pre-configured by the cloud edge terminal according to a obtained change value of the pick-and-delivery amount; judging whether the first side terminal only comprises the target side terminal according to the target information corresponding to the first side terminal; and determining the target terminal as the target side terminal when the first side terminal only comprises the target side terminal.

In some embodiments, the round robin delivery path planning device based on cloud edge coordination is further configured to determine that the target terminal is a cloud-side terminal if it is determined that the first side terminal includes the target side terminal and a second side terminal, where the second side terminal includes one of all side terminals currently participating in the inventory except the target side terminal.

In some embodiments, the device is further configured to determine, when corrected cable projection information is acquired at the cloud-side terminal through the target terminal, a corresponding cable projection linkage mode based on the corrected cable projection information, and determine a first cable projection node group corresponding to each cable projection linkage mode and a first node information group corresponding to each group of first cable projection node groups, where each cable projection linkage mode associates a first cable projection side terminal that performs cable projection, and the first cable projection node group includes all first cable projection nodes that perform cable projection for the corresponding first cable projection side terminal, and the first cable projection nodes include at least first cable projection nodes in a current cable projection path corresponding to the first cyclic delivery information; carrying out coding processing on each first node information group by utilizing an integer coding principle to generate a corresponding initial coding population of the collecting and throwing nodes, wherein the coding of the initial coding population of the collecting and throwing nodes is used for representing the node serial numbers corresponding to each first collecting and throwing node in the first collecting and throwing node information groups; according to the difference value between the cable casting cost corresponding to the corrected cable casting path information obtained by decoding the cable casting node initial coding population and a preset cable casting cost threshold value, determining cable casting cost correction corresponding to a corresponding cable casting linkage mode, and constructing a corresponding fitness evaluation function based on cable casting constraint data corresponding to the cable casting cost correction and a preset path construction rule, wherein the cable casting cost is determined according to cable casting quantity corresponding to a corresponding cable casting path and cable casting implementation time, and the cable casting constraint data comprises one of the following: the cable projection capacity constraint and the time window constraint, and the fitness evaluation function is used for evaluating the cable projection cost to-be-corrected degree of the planned correction cable projection path; taking the fitness evaluation function as a fitness function of a preset genetic algorithm, performing genetic operation on the initial coding population of the collecting and throwing nodes to generate a target collecting and throwing node coding population, wherein the genetic operation comprises selection, crossing and variation; updating node information corresponding to a first cable projection node in a cable projection path corresponding to initial cable projection path information according to a node sequence number corresponding to a target cable projection node coding population, generating a target cable projection path, and generating cable projection allocation information according to a pre-allocation cable projection amount in corrected cable projection information and an initial allocation cable projection amount corresponding to the initial cable projection path information, wherein the second circulation cable taking and delivering information comprises the target cable projection path and cable projection allocation information

In some embodiments, the device is further configured to search for a first pickup node that is not updated by a node in a pickup path corresponding to the initial pickup path information, to obtain an original pickup node; acquiring a first cable distribution amount corresponding to an original cable distribution node in the initial cable distribution amount, and acquiring a first preset cable distribution amount corresponding to the first cable distribution node for node updating from the preset cable distribution amounts; and correlating the first cable distribution amount and the first pre-distribution cable distribution amount with cable distribution nodes in the target cable distribution path to generate cable distribution information.

In some embodiments, the device is further configured to determine, when the target terminal is a cloud terminal, a second cable projection node to be cable projection and a second pre-configured cable projection amount corresponding to the second cable projection node, which are pre-configured to the target side terminal, from cable projection correction information through the target terminal; determining a corresponding cable-casting linkage mode and a first cable-casting node group corresponding to the cable-casting linkage mode and a first node information group corresponding to the first cable-casting node group based on a first planning parameter and a preset first cable-casting correction plan, wherein the first planning parameter comprises a second cable-casting node and a second preset cable-casting quantity, and the first cable-casting correction plan comprises: and correcting the cable amount corresponding to the side terminal corresponding to the second cable node to be distributed.

In some embodiments, the device is further configured to determine, when the target terminal is a target side terminal, a third cable projection node to be cable projected and a third pre-configured cable projection amount corresponding to the third cable projection node pre-configured to the target side terminal from the cable projection correction information through the target terminal; determining a corresponding cable-casting linkage mode and a first cable-casting node group corresponding to the cable-casting linkage mode and a first node information group corresponding to the first cable-casting node group based on a second planning parameter and a preset second cable-casting correction plan, wherein the second planning parameter comprises a third cable-casting node and a third preset cable-casting quantity, and the second cable-casting correction plan at least comprises one of the following; and correcting the cable amount of the target side terminal at the corresponding cable node, and correcting the cable path formed by the cable node to be cable at the target side terminal.

In some embodiments, the processing module 33 is further configured to detect, from the second cycle pick-and-place delivery information, pick-and-place configuration information corresponding to an edge terminal associated with each pick-and-place point to be picked up, where the pick-and-place configuration information includes candidate target information of a third edge terminal allocated to each pick-and-place point and pick-and-place delivery amount; acquiring target information corresponding to a target side terminal to obtain first target information; detecting candidate target information as the first target information in all the picking configuration information corresponding to the second cycle picking delivery information; and generating a target cable-stayed path based on cable-stayed points corresponding to the detected cable-stayed configuration information, and taking cable-stayed point distribution quantity corresponding to the detected cable-stayed configuration information as cable-stayed quantity corresponding to the corresponding cable-stayed points.

The present embodiment also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.

Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:

s1, determining a current pickup node when the cloud terminal receives pickup correction information in the process of picking up and picking up goods according to configured first circulation pickup information, wherein the pickup correction information is used for representing the change of pickup information of a corresponding pickup point.

S2, receiving second circulation goods taking and delivering information generated by the target terminal for carrying out the goods taking and delivering correction planning, wherein the second circulation goods taking and delivering information is generated by the target terminal through a preset path construction rule based on the first circulation goods taking and delivering information and the goods taking and delivering correction planning, the target terminal is determined based on the goods taking and delivering correction information sent by the cloud side terminal, and the target terminal comprises one of a target side terminal and a cloud side terminal which are positioned at a current goods taking node.

S3, in the second circulation goods taking and delivering information, detecting a corresponding target goods taking path and goods taking distribution information, and determining the goods taking quantity corresponding to each goods taking point in the target goods taking path according to the goods taking quantity distribution information.

S4, circularly taking and delivering goods according to the target picking and delivering path and the corresponding picking and delivering quantity.

It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.

In addition, in combination with the circulating pickup and delivery path planning method based on cloud edge coordination in the above embodiment, the embodiment of the application may provide a storage medium for implementation. The storage medium has a computer program stored thereon; the computer program when executed by the processor implements any of the cyclic delivery path planning methods based on cloud edge collaboration in the above embodiments.

It should be understood by those skilled in the art that the technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.

The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A circulating pick-and-delivery path planning method based on cloud edge cooperation is characterized by comprising the following steps:

in the process of carrying out goods picking and casting according to the configured first circulation picking and casting information, determining a current picking and casting node when a cloud side terminal receives picking and casting correction information, wherein the picking and casting correction information is used for representing the change of the picking and casting information of a corresponding picking and casting point;

receiving second cyclic delivery information generated by a target terminal for carrying out a picking and correcting planning, wherein the second cyclic delivery information is generated by the target terminal based on the first cyclic delivery information and the picking and correcting planning by utilizing a preset path construction rule, the target terminal is determined based on the picking and correcting information sent by the cloud side terminal, and the target terminal comprises one of a target side terminal and the cloud side terminal which are positioned at the current picking and correcting node;

In the second circulation goods taking and delivering information, detecting a corresponding target goods taking path and goods taking allocation information, and determining the goods taking quantity corresponding to each goods taking point in the target goods taking path according to the goods taking allocation information;

circularly taking and delivering goods according to the target cable throwing path and the corresponding cable throwing quantity;

wherein determining the target terminal based on the cable correction information includes:

acquiring a pre-configured cable projection object from the cable projection correction information, wherein the cable projection object comprises a pre-configured first side terminal, and the first side terminal is pre-configured by the cloud side terminal according to the acquired cable projection quantity change value;

judging whether the first side terminal only comprises the target side terminal or not according to the target information corresponding to the first side terminal;

determining that the target terminal is the target side terminal under the condition that the first side terminal only comprises the target side terminal; determining the target terminal as the cloud side terminal under the condition that the first side terminal comprises the target side terminal and a second side terminal, wherein the second side terminal comprises one of all side terminals which currently participate in the cable, except the target side terminal;

In the second cycle of picking, delivering and distributing information, detecting a corresponding target picking and distributing path and picking and distributing information, and determining the picking and distributing amount corresponding to each picking and distributing point in the target picking and distributing path according to the picking and distributing information, including:

detecting the cable configuration information corresponding to the side terminal associated with each cable projection point to be cable projected from the second circulation delivery and distribution information, wherein the cable projection configuration information comprises candidate target information of a third side terminal distributed by each cable projection point and cable projection point distribution quantity;

acquiring target information corresponding to the target side terminal to obtain first target information;

detecting the candidate target information as the cable-throw configuration information of the first target information in all the cable-throw configuration information corresponding to the second circulating delivery information;

and generating the target cable routing path based on the cable routing point corresponding to the detected cable routing configuration information, and taking the cable routing point delivery quantity corresponding to the detected cable routing configuration information as the cable routing quantity corresponding to the cable routing point.

2. The method of claim 1, wherein the target terminal performs a pick-up correction plan based on the first cyclical delivery information and the pick-up correction information using a preset path construction rule, and generating the second cyclical delivery information comprises:

When the cloud terminal acquires the cable-casting correction information, the target terminal determines corresponding cable-casting linkage modes based on the cable-casting correction information, and determines first cable-casting node groups corresponding to each cable-casting linkage mode and first node information groups corresponding to each first cable-casting node group, wherein each cable-casting linkage mode is associated with a first cable-casting side terminal for cable-casting, the first cable-casting node groups comprise all first cable-casting nodes for cable-casting of the corresponding first cable-casting side terminal, and the first cable-casting nodes at least comprise the first cable-casting nodes in a current cable-casting path corresponding to the first circulating pick-and-feed information;

the target terminal carries out coding processing on each group of first node information groups by utilizing an integer coding principle to generate a corresponding cable node initial coding population, wherein the codes of the cable node initial coding population are used for representing node serial numbers corresponding to each first cable node in the first cable node information groups;

the target terminal determines a corresponding cable casting cost correction amount corresponding to the cable casting linkage mode according to a difference value between cable casting cost corresponding to modified cable casting path information obtained by decoding the cable casting node initial coding population and a preset cable casting cost threshold value, and constructs a corresponding fitness evaluation function based on the cable casting cost correction amount and cable casting constraint data corresponding to the preset path construction rule, wherein the cable casting cost is determined according to cable casting amount corresponding to a corresponding cable casting path and cable casting implementation time, and the cable casting constraint data comprises one of the following: the cable projection capacity constraint and the time window constraint, and the fitness evaluation function is used for evaluating the cable projection cost to-be-corrected degree of the planned correction cable projection path;

The target terminal performs genetic operation on the initial coding population of the collecting node by taking the fitness evaluation function as a fitness function of a preset genetic algorithm to generate a target collecting node coding population, wherein the genetic operation comprises selection, crossing and variation;

the target terminal updates node information corresponding to the first cable-throwing node in the cable-throwing path corresponding to the modified cable-throwing path information according to the node serial number corresponding to the target cable-throwing node coding population, generates the target cable-throwing path, and generates cable-throwing allocation information according to the pre-allocation cable-throwing amount in the cable-throwing modified information and the initial allocation cable-throwing amount corresponding to the modified cable-throwing path information, wherein the second cycle delivery information comprises the target cable-throwing path and the cable-throwing allocation information.

3. The method of claim 2, wherein generating the cable distribution information based on the pre-configured cable distribution amount in the cable distribution correction information and the initial distribution cable distribution amount corresponding to the corrected cable distribution path information comprises:

searching the first cable projection node which is not updated in the cable projection path corresponding to the corrected cable projection path information to obtain an original cable projection node;

Acquiring a first cable distribution amount corresponding to the original cable distribution node from the initial distribution cable distribution amount, and acquiring a first pre-distribution cable distribution amount corresponding to the first cable distribution node for node updating from the pre-distribution cable distribution amount;

and correlating the first cable distribution amount and the first pre-distribution cable distribution amount with cable distribution nodes in the target cable distribution path to generate cable distribution information.

4. The method according to claim 2, wherein the target terminal is the cloud-side terminal, the target terminal determining a corresponding cable-to-cable linkage mode based on the cable-to-cable correction information, and determining a first cable-to-cable node group corresponding to each of the cable-to-cable linkage modes and a first node information group corresponding to each of the first cable-to-cable node groups, comprising:

the cloud terminal receives the correction information from the cable, determining a second cable projection node to be cable projected and a second preset cable projection amount corresponding to the second cable projection node, which are preset for the target side terminal;

the cloud terminal determines a corresponding cable-casting linkage mode and a first cable-casting node group corresponding to the cable-casting linkage mode and a first node information group corresponding to the first cable-casting node group based on a first planning parameter and a preset first cable-casting correction plan, wherein the first planning parameter comprises the second cable-casting node and the second preset cable-casting quantity, and the first cable-casting correction plan comprises: and correcting the cable amount corresponding to the side terminal corresponding to the second cable node to be distributed.

5. The method according to claim 2, wherein the target terminal is the target side terminal, the target terminal determining a corresponding cable-to-cable linkage mode based on the cable-to-cable correction information, and determining a first cable-to-cable node group corresponding to each cable-to-cable linkage mode and a first node information group corresponding to each first cable-to-cable node group, comprising:

the target side terminal determines a third cable-casting node to be cable-casting and a third preset cable-casting quantity corresponding to the third cable-casting node which are preset for the target side terminal from the cable-casting correction information;

the target side terminal determines the corresponding cable-casting linkage mode and the first cable-casting node group corresponding to the cable-casting linkage mode and the first node information group corresponding to the first cable-casting node group based on a second planning parameter and a preset second cable-casting correction plan, wherein the second planning parameter comprises the third cable-casting node and the third preset cable-casting quantity, and the second cable-casting correction plan at least comprises one of the following cable-casting quantity correction of the target side terminal at the corresponding cable-casting node and cable-casting path correction formed by cable-casting nodes to be cable-cast by the target side terminal.

6. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the steps of the cloud-based collaborative cyclic delivery path planning method of any one of claims 1 to 5.

7. A storage medium having stored thereon a computer program, which when executed by a processor implements the cyclic pick delivery path planning method based on cloud edge synergy of any one of claims 1 to 5.