WO2021175319A1

WO2021175319A1 - Entrance and exit marking and route planning

Info

Publication number: WO2021175319A1
Application number: PCT/CN2021/079375
Authority: WO
Inventors: 宋亚统; 陈水平; 杜方潇
Original assignee: 北京三快在线科技有限公司
Priority date: 2020-03-05
Filing date: 2021-03-05
Publication date: 2021-09-10
Also published as: CN113360787A

Abstract

Provided is a method relating to entrance and exit marking and route planning. The method comprises: for each Area Of Interest (AOI) to be marked, obtaining at least one target historical order that matches said AOI (S102); for each target historical order, determining a delivery trajectory corresponding to the target historical order; then determining an intersection point generated by the delivery trajectory corresponding to the target historical order and the boundary of said AOI as an intersection point corresponding to the target historical order; and according to the intersection point corresponding to the target historical order, determining an entrance and exit of said AOI and marking same.

Description

Entrance and exit marking and route planning

Technical field

This application relates to the field of computers, in particular to entry and exit marking and route planning.

Background technique

More and more people order goods online, and the distribution business application becomes more and more extensive. The delivery person can deliver the goods ordered by the user online to the user/consignee, which brings great convenience to the user's life.

The delivery person needs to deliver the product ordered by the user online from the merchant of the product to the user/consignee. In practical applications, most of the delivery addresses of user orders are located in the Area Of Interest (AOI), such as communities, hospitals, etc.

Summary of the invention

The present disclosure provides a method for marking entrances and exits, which includes: determining an AOI of a region of interest to be marked; acquiring at least one target historical order matching the AOI to be marked; determining to execute the target history for each of the target historical orders The delivery trajectory of the order’s delivery capacity during the execution of the target historical order is taken as the delivery trajectory corresponding to the target historical order; according to the delivery trajectory corresponding to the target historical order, the delivery trajectory corresponding to the target historical order is determined The intersection generated by the boundary of the AOI to be marked is used as the intersection corresponding to the target historical order; according to the respective intersection corresponding to the at least one target historical order, the entrance and exit of the AOI to be marked is determined and marked.

Optionally, obtaining at least one target historical order matching the AOI to be marked includes: for each historical order, determining the delivery location of the distribution corresponding to the historical order; and determining the delivery location through a preset AOI search tree The AOI that the delivery location falls into; if the AOI that the delivery location falls into is the same as the AOI to be marked, the historical order is determined as the target historical order that matches the AOI to be marked.

Optionally, the determining, based on the delivery trajectory corresponding to the target historical order, the intersection generated by the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection corresponding to the target historical order includes: determining the The intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked is used as the intersection to be identified; in the delivery trajectory corresponding to the target historical order, it is determined that it is adjacent to the intersection to be identified and is located at the AOI to be marked. The trajectory point outside the boundary is used as the first trajectory point; the trajectory point adjacent to the to-be-identified intersection and located inside the boundary of the to-be-marked AOI is determined in the distribution trajectory corresponding to the target historical order as the second trajectory point Track points; if the delivery track corresponding to the target historical order contains not less than the first set number of first continuous track points, and not less than the second set number of second continuous track points, the intersection to be identified As the intersection point corresponding to the target historical order, the first continuous track point is located outside the boundary of the AOI to be marked and is adjacent to the first track point, and the second continuous track point is located on the to-be-marked AOI. Mark the inner side of the boundary of the AOI and be adjacent to the second track point.

Optionally, the step of determining and marking the entrance and exit of the AOI to be marked according to the respective intersection points of the at least one target historical order includes: for each of the target historical orders, if the intersection point corresponding to the target historical order is determined If the preset condition is met, the intersection corresponding to the target historical order is used as a candidate marking point; according to each candidate marking point, the entrance and exit of the AOI to be marked is determined and marked.

Optionally, if it is determined that the intersection corresponding to the target historical order meets a preset condition, using the intersection corresponding to the target historical order as a candidate labeling point includes: for each intersection corresponding to the target historical order, determining that the target historical order corresponds to The track point adjacent to the intersection in the delivery trajectory, and the line between the track point adjacent to the intersection and the intersection is determined; if the angle between the line and the vertical line corresponding to the intersection is not If the angle is greater than the set angle, it is determined that the intersection point is a candidate marking point that meets the preset condition, wherein the vertical line corresponding to the intersection point passes through the intersection point and is perpendicular to the boundary of the AOI to be marked where the intersection point is located.

Optionally, if it is determined that the intersection corresponding to the target historical order meets a preset condition, the intersection corresponding to the target historical order is used as a candidate labeling point, including: for each intersection corresponding to the target historical order, if the intersection corresponds to the The distance between adjacent trajectory points in the delivery trajectory corresponding to the target historical order does not exceed a set distance, and the intersection is determined to be a candidate labeling point that meets the preset condition.

Optionally, if it is determined that the intersection corresponding to the target historical order meets a preset condition, the intersection corresponding to the target historical order is used as a candidate marking point, including: for each intersection corresponding to the target historical order, corresponding to the target historical order If the intersection point is the first intersection point between the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked, determine the intersection point as a candidate marked point that meets the preset conditions; or The travel direction of the delivery trajectory corresponding to the target historical order, and if the intersection is the last intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked, the intersection is determined to be a candidate marked point that meets the preset conditions.

Optionally, the determining and labeling the entrance and exit of the AOI to be labeled according to each of the candidate labeling points includes: inputting each of the candidate labeling points into a preset screening model, and determining to be used to characterize each of the AOIs The distribution function of the probability density of the candidate labeling point; determining at least one wave crest from the distribution function; for each of the wave crests, if the peak value of the wave crest is not less than the set threshold, the candidate labeling point corresponding to the wave crest is regarded as the waiting Mark the entrances and exits of the AOI and mark them.

Optionally, before determining the delivery trajectory that the delivery capacity of the target historical order has traversed during the execution of the target historical order is used as the delivery trajectory corresponding to the target historical order, the method further includes: For each track point in the delivery track corresponding to the order, if the distance between the track point and the adjacent track point is not less than the set distance, the track point is removed from the delivery track corresponding to the target historical order.

Optionally, before determining the delivery trajectory that the delivery capacity of the target historical order has traversed during the execution of the target historical order is used as the delivery trajectory corresponding to the target historical order, the method further includes: For each track point in the delivery track corresponding to the order, if the delivery speed of the delivery capacity of the target historical order at the track point is not less than the set speed, the track point is removed from the delivery track corresponding to the target historical order.

The present disclosure provides a route planning method, which includes: receiving a target order to be delivered from a user; determining the area of interest AOI to which the target order belongs as the target AOI according to the delivery address of the target order; The entrance and exit of the target AOI perform route planning for the delivery route of the target order, wherein the entrance and exit of the target AOI are marked by the above-mentioned entrance and exit marking method; the planned delivery route is recommended to those who execute the target order Distribution capacity.

Optionally, the route planning of the delivery route of the target order according to the entrance and exit of the target AOI includes: selecting a target from the entrance and exit of the target AOI according to the historical order corresponding to the target AOI Entrance and exit; according to the target entrance and exit, a delivery route through the target entrance and exit is planned.

The present disclosure provides a device for marking entrances and exits, including: a first determining module configured to determine a region of interest AOI to be marked; an acquisition module configured to acquire at least one target historical order matching the AOI to be marked; The second determining module is configured to determine, for each of the target historical orders, the delivery trajectory that the delivery capacity of the target historical order passes through in the process of executing the target historical order, as the delivery trajectory corresponding to the target historical order The third determination module, which is configured to determine the intersection of the distribution trajectory corresponding to the target historical order and the boundary of the AOI to be marked according to the distribution trajectory corresponding to the target historical order, as the intersection corresponding to the target historical order; label The module is configured to determine and mark the entrance and exit of the AOI to be marked according to the respective intersection points of the at least one target historical order.

The present disclosure provides a route planning device, including: a receiving module configured to receive a target order to be delivered from a user; a determining module configured to determine the target order according to the delivery address of the target order The area of interest AOI belongs to as the target AOI; a planning module configured to plan the delivery route of the target order according to the entrance and exit of the target AOI, wherein the entrance and exit of the target AOI are marked by the above entrance and exit method Marking; recommendation module, which is configured to recommend the planned delivery route to the delivery capacity that executes the target order.

The present disclosure provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the above-mentioned method for marking entrances and exits or the above-mentioned method for route planning.

The present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor implements the above-mentioned method for marking entrances and exits when the computer program is executed Or the above-mentioned route planning method.

The embodiments of the present disclosure can achieve the following beneficial effects:

It can be seen from the above method that the service platform can determine the area of interest AOI to be marked, and obtain at least one target historical order that matches the AOI to be marked. For each target historical order, determine the delivery trajectory that the delivery capacity of the target historical order passes through in the process of executing the target historical order as the delivery trajectory corresponding to the target historical order. Then determine the intersection point between the delivery track corresponding to the target historical order and the boundary of the AOI to be marked as the intersection point corresponding to the target historical order. According to the respective intersection points corresponding to at least one target historical order, the entrance and exit of the AOI to be marked is determined and marked.

It can be seen from the above method that the service platform can determine the entrance and exit of the AOI to be marked from the intersection of these delivery trajectories and the boundary of the AOI to be marked based on a number of historical delivery trajectories that have passed through the AOI to be marked. Label. Therefore, this method can automatically determine the entrance and exit of the AOI to be marked through historical data, thereby improving the delivery efficiency to a certain extent.

Description of the drawings

The drawings described here are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the attached picture:

FIG. 1 is a schematic flowchart of a method for marking entrances and exits according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of an AOI of a region of interest provided by an embodiment of the disclosure;

FIG. 3 is a schematic diagram of an AOI search tree provided by an embodiment of the disclosure;

FIG. 4 is a schematic diagram of a delivery trajectory corresponding to a target historical order provided by an embodiment of the disclosure;

5 is a schematic diagram of noise points in a delivery trajectory provided by an embodiment of the disclosure;

6 is a schematic diagram of the intersection of a delivery trajectory and the boundary of an AOI to be marked according to an embodiment of the disclosure;

FIG. 7 is a schematic diagram of a probability density distribution function provided by an embodiment of the disclosure;

FIG. 8 is a schematic flowchart of a route planning method provided by an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a device for marking entrances and exits according to an embodiment of the disclosure;

FIG. 10 is a schematic diagram of a route planning device provided by an embodiment of the disclosure;

FIG. 11 is a schematic diagram of an electronic device provided by an embodiment of the disclosure.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with specific embodiments of the present disclosure and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

In practical applications, the AOI information shown on the electronic map is not very accurate. If the entrance and exit of the AOI are not marked, the delivery staff can only communicate with the user/receipt because they cannot determine the entrance and exit of the AOI on the electronic map. The shipper contacts again to determine the delivery route, thereby reducing the delivery efficiency of the delivery staff.

Therefore, how to determine the entrance and exit of the AOI where the delivery address of the user's order is located, so as to improve the delivery efficiency, is an urgent problem to be solved.

The technical solutions provided by the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a method for marking entrances and exits according to an embodiment of the present disclosure, which specifically includes the following steps S101 to S105.

S101: Determine the AOI of the region of interest to be marked.

In practical applications, most of the delivery addresses of orders placed by users who use the delivery service will be in the area of interest (AOI). Among them, AOI is pre-divided by the staff of the service platform on the electronic map through data collection In each area, AOI can include hospitals, schools, communities, office buildings and other communities. Based on this, when the delivery task is performed, the delivery capacity needs to enter the AOI from the entrance and exit of the AOI in the area of interest where the consignee is located to be able to reach the specific location of the consignee, and then deliver the delivery to the consignee. The distribution capacity mentioned here can refer to units that can have a certain transportation capacity and carrying capacity, such as distributors, distribution robots, drones, and unmanned vehicles.

FIG. 2 is a schematic diagram of an AOI of a region of interest provided by an embodiment of the disclosure.

For example, as shown in Figure 2, a user who placed an order sets the delivery address in Building No. 1 of the H cell in Figure 2. The H cell mentioned here is the AOI where the consignee is located. The entrances and exits include the north gate or the east gate. If the delivery capacity receives an order placed by the user, it needs to enter the community from the north or east gate of the community to reach Building 1 so that the delivery items ordered by the user can be delivered to the consignee.

Therefore, the service platform needs to pre-determine the area of interest AOI that needs to be marked for the entrance and exit according to its actual business needs, as the area of interest AOI to be marked, and then mark these entrances and exits of the AOI to be marked in the subsequent process. In the present disclosure, the AOI to be marked may be an AOI with less than a certain number of entrances and exits. For example, if an AOI has less than two entrances and exits, it can be determined that the AOI is an AOI to be marked. For AOIs with a large number of entrances and exits, it is not necessary to mark them.

S102: Obtain at least one target historical order matching the AOI to be marked.

After determining each AOI to be marked, the service platform can obtain at least one target historical order that matches the AOI to be marked for each AOI to be marked. Among them, the service platform can determine from each historical order the historical order whose delivery location is in the AOI to be marked as the target historical order that matches the AOI to be marked. The delivery location of the historical order mentioned here can refer to the delivery address set by the user for the historical order, or it can refer to the actual delivery location where the delivery capacity and the consignee deliver the delivery when the historical order is executed.

Specifically, for each historical order, the service platform can determine the delivery location of the distribution corresponding to the historical order, and then determine the AOI that the delivery location falls into through the preset AOI search tree, if the delivery location falls If the incoming AOI is the same as the AOI to be marked, the historical order is determined as the target historical order that matches the AOI to be marked. The AOI search tree mentioned here may refer to a tree-like data structure that can store each AOI or points of information (POI) in each AOI according to a geographic containment relationship, as shown in FIG. 3.

FIG. 3 is a schematic diagram of an AOI search tree provided by an embodiment of the disclosure.

As in the above example, if cell H is in zone B of city A, the service platform can create an AOI search tree as shown in Figure 3. It can be seen that, according to the geographical inclusion relationship, the B and C areas are stored in the child nodes of the node corresponding to the A city, and the H and G cells are stored in the child nodes of the node corresponding to the B area. In this way, if the service platform obtains a historical order whose delivery location is in the H cell, according to the AOI search tree, the service platform can determine that the historical order is a target historical order that matches the AOI of the H cell.

S103: For each target historical order, determine the delivery trajectory that the delivery capacity of the target historical order has passed during the execution of the target historical order, as the delivery trajectory corresponding to the target historical order.

After the service platform has determined at least one target historical order that matches the AOI to be marked, it can determine the delivery trajectory that the delivery capacity for executing the target historical order passes during the execution of the target historical order for each target historical order , As the delivery trajectory corresponding to the target historical order.

In practical applications, the service platform can collect the trajectory points passed by the delivery capacity of the distribution task in real time, thereby obtaining the delivery trajectory of the delivery capacity connected by the trajectory points. In addition to collecting each trajectory point, the service platform also collects information such as the travel speed of the distribution capacity at each trajectory point.

Therefore, the service platform can determine the delivery trajectory that the delivery capacity has passed in the process of executing the target historical order for the delivery capacity of the target historical order, and intercept the delivery trajectory from the delivery capacity from entering the to-be-marked AOI The part of the delivery trajectory that leaves the AOI to be marked is used as the delivery trajectory corresponding to the target historical order, as shown in Figure 4.

FIG. 4 is a schematic diagram of a distribution trajectory corresponding to a target historical order provided by an embodiment of the disclosure.

For example, the service platform determines a target historical order that matches the AOI of cell H, and determines the delivery trajectory through which the delivery capacity of the target historical order is executed as shown in Figure 4, and the delivery trajectory can be seen Start from outside the H cell, pass the entrance of the H cell, turn to Building No. 1 in the H cell, and then pass the exit of the H cell to the outside of the H cell. The delivery trajectory shown in FIG. 4 can be used as the delivery trajectory corresponding to the target historical order.

That is to say, in the present disclosure, the service platform does not pay attention to the entire delivery trajectory of a target historical order, but instead pays attention to the partial delivery trajectory composed of track points located near or inside the AOI to which the target historical order belongs, and then through this Part of the delivery trajectory is used to determine the intersection point with the AOI that the target historical order belongs to.

It should be pointed out that in practical applications, it may happen that the track points in the delivery trajectory corresponding to the target historical order collected by the service platform deviate from the actual delivery trajectory of the target historical order, resulting in the subsequent determination of the target history The intersection of the delivery trajectory corresponding to the order and the boundary of the AOI to be marked is not accurate, as shown in Figure 5.

FIG. 5 is a schematic diagram of noise points in a delivery trajectory provided by an embodiment of the disclosure.

When the trajectory point as shown in Figure 5 deviates from the actual delivery trajectory of the target historical order very far, the intersection determined by the service platform is probably not the entrance and exit of the AOI to be marked, resulting in the determined entrance and exit of the AOI to be marked. precise.

In order to prevent the impact caused by the above situation, in the present disclosure, the service platform needs to remove the noise points in the delivery trajectory corresponding to the target historical order. Specifically, the service platform can target each track point in the delivery track corresponding to the target historical order, and if the distance between the track point and the adjacent track point is not less than the set distance, the track point is determined to be a noise point and Remove the track point from the delivery track corresponding to the target historical order.

For example, in the delivery trajectory determined by the service platform in Figure 5, there is a track point E that deviates far from the actual delivery trajectory. Obviously, the track point E is a noise point. If the set distance set by the service platform is 50m, and the distance between the track point E and the two adjacent track points F and G is not less than 50m, the service platform can determine that the track point E is a noise point, and The track point E is removed from the determined delivery track.

In addition, the service platform can also target each track point in the delivery trajectory corresponding to the target historical order. If the delivery capacity of the target historical order is executed, the delivery speed corresponding to the track point is not less than the set speed. The trajectory point is a noise point and the trajectory point is removed from the delivery trajectory corresponding to the target historical order.

Of course, the service platform can also use the above two methods as methods to remove noise points in the delivery trajectory corresponding to the target historical order. For example, if there is a track point in the delivery track corresponding to the target order determined by the service platform and the distance between the adjacent track point is not less than the set distance, and the delivery capacity for executing the target historical order is at the corresponding track point If the delivery speed is not less than the set speed, the track point is determined to be a noise point and the track point is removed from the delivery track corresponding to the target historical order.

S104: According to the distribution trajectory corresponding to the target historical order, determine the intersection of the distribution trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection corresponding to the target historical order.

After the service platform determines the delivery trajectory corresponding to the target historical order, it can determine the intersection of the delivery trajectory and the boundary of the AOI to be marked as the intersection corresponding to the target historical order.

Since it may happen that the delivery trajectory corresponding to the target historical order intersects the boundary of the AOI to be marked, but the delivery trajectory does not enter the interior of the AOI to be marked, the service platform needs to determine the corresponding target historical order The intersection point where the delivery trajectory crosses the boundary of the AOI to be marked and intersects the boundary is taken as the intersection point corresponding to the target historical order.

Specifically, the service platform may determine the intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection to be identified. Among them, in the present disclosure, the boundary of the AOI to be marked refers to the boundary of the AOI to be marked on the preset electronic map, as shown in FIG. 4. Correspondingly, when subsequently marking the entrance and exit of the AOI to be marked, it may also refer to marking the entrance and exit of the AOI to be marked on the electronic map.

Then, the service platform can further determine the trajectory point adjacent to the to-be-identified intersection and outside the boundary of the to-be-marked AOI in the delivery trajectory corresponding to the target historical order as the first trajectory point; In the delivery trajectory corresponding to the order, a trajectory point adjacent to the to-be-identified intersection and located inside the boundary of the AOI to be marked is determined as the second trajectory point.

If the delivery track corresponding to the target historical order contains not less than the first set number of first continuous track points and not less than the second set number of second continuous track points, the service platform can use the to-be-identified intersection as The intersection point corresponding to the target historical order. Wherein, the first continuous track point is located outside the boundary of the AOI to be marked and is adjacent to the first track point, and the second continuous track point is located inside the boundary of the AOI to be marked and is adjacent to the boundary of the AOI to be marked. The second track points are adjacent.

For example, the intersection of the triangle generated by the intersection of the delivery trajectory and the boundary of the H cell on the electronic map as shown in Fig. 4, it can be seen that the trajectory point adjacent to the intersection and located outside the boundary of the H cell is the first trajectory point , The trajectory point adjacent to the intersection and located inside the boundary of the H cell is the second trajectory point. If the service platform sets the first set number to 1 and the second set number to 2, it can be seen that there are no less than 1 continuous track point adjacent to the first track point outside the boundary of the H cell. There are no less than two continuous track points adjacent to the second track point inside the boundary of the H cell, and therefore, this intersection point can be used as the intersection point of the target historical order corresponding to the delivery track shown in FIG. 4.

It should be noted that the above-mentioned first set number and second set number can be set according to actual needs, and the specific values used for the first set number and the second set number are not limited in this disclosure. It is worth mentioning that if the value of the first set number and the second set number is larger, the determined intersection point is more accurate. Therefore, in order to ensure that the determined intersection point is more reasonable, the first The specific numerical values of the set quantity and the second set quantity are set to be larger.

S105: Determine and mark the entrance and exit of the AOI to be marked according to the respective intersection points corresponding to the at least one target historical order.

After the service platform determines the intersection corresponding to at least one target historical order that matches the AOI to be marked, it can determine the entrance and exit of the AOI to be marked and mark it according to each intersection corresponding to the at least one historical target order.

Among them, the service platform can, for each target historical order, if it is determined that the intersection corresponding to the target historical order meets the preset conditions, the intersection corresponding to the target historical order is used as a candidate marking point, and then the candidate marking point is determined according to each candidate marking point. The entrances and exits of AOI are marked.

Specifically, for each intersection corresponding to the target historical order, the service platform can determine the trajectory point adjacent to the intersection in the delivery trajectory corresponding to the target historical order, and determine the trajectory point adjacent to the intersection and the difference between the intersection. The connection between. If the angle between the line and the vertical line corresponding to the intersection is not greater than the set angle, the intersection is determined to be a candidate labeled point that meets the preset conditions, wherein the vertical line corresponding to the intersection passes through the intersection and is relative to the intersection. The boundary of the AOI to be marked where the intersection is located is vertical, as shown in Figure 6.

FIG. 6 is a schematic diagram of the intersection of a delivery trajectory and the boundary of an AOI to be marked according to an embodiment of the disclosure.

For example, as shown in Figure 6, when the service platform collects the delivery trajectory formed by trajectory points A, B, C, D, and E, the intersection of the delivery trajectory and the boundary of the H cell is the intersection point C, and the intersection point C is determined. After the line between the adjacent track point and the intersection point C, it can be seen that the angle between the line and the vertical line corresponding to the intersection point C is 40 degrees, and the vertical line corresponding to the intersection point C passes through the intersection point C and is relative to the intersection point C. The boundary (that is, the upper boundary of the AOI) is vertical. If the track point C is missing due to a positioning problem, the service platform only collects the delivery track formed by track points A, B, D, and E. The intersection of the delivery track and the boundary of the H cell is the intersection point B, and the neighboring point B can be determined The line between the trajectory point and the intersection point B, and it can be seen that the angle between the line and the vertical line corresponding to the intersection point B is 65 degrees, and the vertical line corresponding to the intersection point B passes through the intersection point B and is located relative to the intersection point B The boundary (that is, the upper boundary of the AOI) is vertical.

If the track points B and C are missing due to positioning problems when the service platform collects the delivery track, the determined delivery track is the delivery track formed by the track points A, D, and E, and the intersection of the delivery track and the boundary of the H cell is the intersection point A, the line between the adjacent track points of intersection A and intersection A can be determined, and it can be seen that the angle between the line and the vertical line corresponding to intersection A is 80 degrees, and the vertical line corresponding to intersection A It passes through the intersection A and is perpendicular to the boundary at which the intersection A is located (that is, the upper boundary of the AOI).

Based on this, it can be seen that the intersection point C may be the location when the distribution capacity enters the H cell, and for the intersection point A and the intersection point B, due to the phenomenon of missing trajectory points when the service platform collects the distribution trajectory, these two intersection points are the H cell The possibility of entrance and exit is very small. Therefore, the service platform sets the set angle to 60 degrees, so that the intersection point C is the intersection point that meets the preset conditions, and the intersection point A or the intersection point B is not the intersection point that meets the preset conditions.

It can be seen from the above example that the smaller the angle, the more likely the intersection is the place where the distribution capacity enters the AOI to be marked during the distribution process, which means that the intersection is more likely to be the entrance and exit of the AOI to be marked. A preset condition can better screen the intersection points that may be the entrances and exits of the AOI to be marked.

The service platform can also target each intersection corresponding to the target historical order. If the distance between the intersection and the adjacent track point in the delivery trajectory corresponding to the target historical order does not exceed the set distance, determine that the intersection is a conformity Candidate labeling points with preset conditions.

The service platform can also, for each intersection corresponding to the target historical order, according to the travel direction of the delivery trajectory corresponding to the target historical order, if the intersection is the first of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked Point of intersection, determine that the intersection point is a candidate marked point that meets the preset conditions; or according to the travel direction of the delivery track corresponding to the target historical order, if the intersection point is the delivery track corresponding to the target historical order and the to-be-marked AOI The last intersection point of the boundary of, and the intersection point is determined to be a candidate labeled point that meets the preset condition.

That is to say, under normal circumstances, the delivery capacity enters the AOI to deliver the delivery to the consignee and exits from the AOI. The delivery trajectory generated during the period can produce two intersections with the boundary of the AOI. Therefore, from From the distribution trajectory, the intersection that meets the preset conditions is the first intersection or the last intersection between the distribution trajectory and the AOI.

It can be seen that the above three preset conditions are set for the service platform. In practical applications, the service platform can select the required preset conditions according to actual needs, and then filter the determined intersections through the selected preset conditions , To determine the candidate label points.

After determining each candidate marking point, the service platform can determine the entrance and exit of the AOI to be marked from the candidate marking points and mark it. Specifically, the service platform may input each candidate annotation point into a preset screening model, determine a distribution function used to characterize the probability density of each candidate annotation point, and determine at least one peak from the distribution function. For each wave peak, if the peak value of the wave peak is not less than the set threshold, the candidate marking point corresponding to the wave peak is used as the entrance and exit of the AOI to be marked and marked. The set threshold mentioned here can be determined by the service platform according to actual needs. The algorithm used in the screening model may be a clustering algorithm such as kernel density estimation, which is not specifically limited here, as shown in FIG. 7.

FIG. 7 is a schematic diagram of a probability density distribution function provided by an embodiment of the disclosure.

For example, the candidate label points of the H cell determined by the service platform are shown on the left in Figure 7. Most of the candidate label points are located at the upper and right borders of the H cell, and two sporadic candidate label points are at the lower boundary of the cell, so The distribution function of the probability density drawn for the H cell in the above example will roughly be the distribution function on the right in FIG. 7.

It can be seen that the distribution function has three crests: crest 1, crest 2 and crest 3, crest 1 and crest 2 correspond to the upper boundary and the dense candidate label point cluster in the right boundary, and crest 3 corresponds to the sporadic two candidates in the lower boundary Mark points. According to the distribution function, the service platform can determine that the sporadic candidate labeling points are probably not the entrances and exits of the H cell, or are not the regular entrances and exits of the H cell, so as to screen out the sporadic candidate labeling points. The service platform determines that the peaks of peak 1 and peak 2 are greater than the set threshold, and the peak of peak 3 is less than the set threshold. Then, according to the distribution function, it can be determined that the entrances and exits of the H cell are the candidate labeled points corresponding to peaks 1 and 2.

In the above process, the service platform has determined candidate marking points that can be the entrances and exits of the AOI to be marked, and these candidate marking points can be directly marked as the entrances and exits of the AOI to be marked. It should be pointed out that if there are too few candidate annotation points determined within the set history time for the AOI to be labeled, the AOI to be labeled may be determined according to the above probability density distribution function due to too few samples. The entrances and exits are not accurate. Therefore, the service platform can determine the number of candidate marking points for the AOI to be marked within the set historical time, and if the number is less than the set number, the entry and exit of the AOI to be marked will not be marked.

It can be seen from the above that the service platform can determine and label the entrance and exit of the AOI to be marked from the intersection of these delivery trajectories and the boundary of the AOI to be marked based on a number of historical delivery trajectories that have passed through the AOI to be marked. The service platform can determine the intersection that may be the entrance and exit of the AOI to be marked from these intersections, and further determine the entrance and exit of the AOI to be marked from the intersection that may be the entrance and exit of the AOI to be marked through a preset screening model . Therefore, this method can automatically determine the entrance and exit of the AOI to be marked through historical data, thereby improving the delivery efficiency to a certain extent.

After the service platform determines the entrances and exits of each AOI to be marked, it can plan the route for the delivery capacity of the order delivery task through the marked entrances and exits. The specific process is shown in Figure 8.

FIG. 8 is a schematic flowchart of a route planning method provided by an embodiment of the present disclosure, which specifically includes the following steps S801 to S804.

S801: Receive a target order to be delivered from the user.

S802: According to the delivery address of the target order, determine the region of interest AOI to which the target order belongs as the target AOI.

In the present disclosure, the service platform may receive the target order to be delivered from the user, and determine the AOI to which the target order belongs as the target AOI according to the delivery address of the target order. Among them, the target order mentioned here refers to the order placed by the user according to their actual needs. The AOI to which the target order belongs refers to the AOI to which the delivery address of the target order belongs.

S803: Perform route planning on the delivery route of the target order according to the entrance and exit of the target AOI.

S804: Recommend the planned delivery route to the delivery capacity that executes the target order.

If the service platform has marked the entrance and exit of the target AOI, it can plan the delivery route of the target order based on the entrance and exit marked in the target AOI, and recommend the planned delivery route to the delivery capacity that executes the target order.

Since the target AOI may have multiple entrances and exits, the service platform can select at least one entrance and exit from these entrances and exits as the target entrance and exit through the historical order corresponding to the target AOI. Among them, the historical order corresponding to the target AOI mentioned here refers to the historical order whose delivery address belongs to the target AOI, and for these historical orders, the service platform can obtain the delivery capacity for executing these historical orders while executing these historical orders. The path traversed in the process of the order distribution task, and based on these paths, further determine which of the entrances and exits corresponding to the target AOI are the entrances and exits that the delivery capacity often passes through, and then can be used as the target entrance and exit. Then, the service platform can plan a delivery route through the target entrance and exit, and then recommend the delivery route to the delivery capacity that executes the target order. In this way, the delivery capacity can deliver the delivery corresponding to the target order to the consignee more efficiently.

Of course, the method for the service platform to select the target entrance and exit is not unique. In addition to the above-mentioned methods, the service platform can also select the target entrance and exit according to the acquired status information of each entrance and exit corresponding to the target AOI. Because in practical applications, each entrance and exit of the AOI is not always in a state of passage, and some entrances and exits may be temporarily closed due to special circumstances. Therefore, the status information of the entrances and exits corresponding to the target AOI mentioned here can be used to characterize the entrances and exits. Whether it is in a passable state. Based on this, the service platform can select the entrances and exits in the traffic state as the target entrances and exits according to the acquired status information of these entrances and exits. There can be many specific ways to obtain the status information of the entrance and exit, for example, it can be manual information reporting, or the status information of the entrance and exit can be determined through historical orders. Other methods for selecting target entrances and exits will not be illustrated one by one here.

The above is the method for marking entrances and exits and the method for route planning provided by one or more embodiments of the present disclosure. Based on the same idea, the present disclosure also provides corresponding means for marking entrances and exits and a device for route planning, as shown in Figs. 9 and 10 Shown.

9 is a schematic diagram of a device for marking entrances and exits provided by the present disclosure, which specifically includes: a first determining module 901, an acquiring module 902, a second determining module 903, a third determining module 904, and a marking module 905.

The first determining module 901 is configured to determine the region of interest AOI to be marked.

The obtaining module 902 is configured to obtain at least one target historical order matching the AOI to be marked.

The second determining module 903 is configured to determine, for each of the target historical orders, the delivery trajectory that the delivery capacity of the target historical order passes through in the process of executing the target historical order, as the delivery trajectory corresponding to the target historical order Trajectory.

The third determining module 904 is configured to determine, according to the delivery trajectory corresponding to the target historical order, the intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection corresponding to the target historical order.

The marking module 905 is configured to determine and mark the entrance and exit of the AOI to be marked according to the respective intersection points corresponding to the at least one target historical order.

Optionally, the acquisition module 902 is configured to determine, for each historical order, the delivery location of the distribution corresponding to the historical order; determine the AOI into which the delivery location falls through a preset AOI search tree; If the AOI in the delivery location is the same as the AOI to be marked, the historical order is determined as the target historical order that matches the AOI to be marked.

Optionally, the third determining module 904 is configured to determine the intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection to be identified; in the delivery trajectory corresponding to the target historical order Determine the trajectory point adjacent to the to-be-identified intersection and located outside the boundary of the to-be-marked AOI as the first trajectory point; determine that it is adjacent to the to-be-identified intersection in the delivery trajectory corresponding to the target historical order, And the track point located inside the boundary of the AOI to be marked is used as the second track point; if the delivery track corresponding to the target historical order contains not less than the first set number of first continuous track points, and not less than the first continuous track point 2. A set number of second continuous trajectory points, using the to-be-identified intersection point as the intersection point corresponding to the target historical order, wherein the first continuous trajectory point is located outside the boundary of the AOI to be marked and is connected to the first A trajectory point is adjacent, and the second continuous trajectory point is located inside the boundary of the to-be-marked AOI and is adjacent to the second trajectory point.

Optionally, the marking module 905 is configured to, for each of the target historical orders, if it is determined that the intersection corresponding to the target historical order meets a preset condition, the intersection corresponding to the target historical order is used as a candidate marking point; For each candidate marking point, the entrance and exit of the AOI to be marked is determined and marked.

Optionally, the labeling module 905 is configured to, for each intersection corresponding to the target historical order, determine the trajectory point adjacent to the intersection in the delivery trajectory corresponding to the target historical order, and determine that it is adjacent to the intersection If the angle between the line and the vertical line corresponding to the intersection is not greater than the set angle, determine that the intersection is a candidate labeled point that meets the preset conditions, Wherein, the vertical line corresponding to the intersection point passes through the intersection point and is perpendicular to the boundary of the AOI to be marked where the intersection point is located.

Optionally, the labeling module 905 is configured to target each intersection corresponding to the target historical order, if the distance between the intersection and the adjacent track point in the delivery trajectory corresponding to the target historical order does not exceed Set the distance, and determine that the intersection point is a candidate labeling point that meets the preset condition.

Optionally, the labeling module 905 is configured to, for each intersection corresponding to the target historical order, according to the travel direction of the delivery trajectory corresponding to the target historical order, if the intersection is the delivery trajectory corresponding to the target historical order and The first intersection of the boundary of the AOI to be marked, determine that the intersection is a candidate marked point that meets the preset conditions; or according to the travel direction of the delivery trajectory corresponding to the target historical order, if the intersection is the target historical order corresponding The last intersection point between the delivery trajectory of and the boundary of the AOI to be marked, and the intersection point is determined to be a candidate marking point that meets the preset condition.

Optionally, the labeling module 905 is configured to input each candidate labeling point into a preset screening model, and determine a distribution function used to characterize the probability density of each candidate labeling point; from the distribution At least one wave crest is determined in the function; for each of the wave crests, if the peak value of the wave crest is not less than the set threshold, the candidate marking point corresponding to the wave crest is used as the entrance and exit of the AOI to be marked and marked.

Optionally, the second determining module 903 is configured to, for each track point in the delivery track corresponding to the target historical order, if the distance between the track point and the adjacent track point is not less than the set distance, The track point is removed from the delivery track corresponding to the target historical order.

Optionally, the second determining module 903 is configured to, for each track point in the delivery track corresponding to the target historical order, if the delivery speed of the delivery capacity for the target historical order at the track point is not less than the set point If the speed is fixed, the track point is determined to be a noise point and the track point is removed.

It can be seen from the above device that it is possible to determine and label the entrance and exit of the AOI to be marked from the intersection of these delivery trajectories and the boundary of the AOI to be marked based on a number of historical delivery trajectories that have passed through the AOI to be marked. . Therefore, the device can automatically determine the entrance and exit of the AOI to be marked through historical data, thereby improving the delivery efficiency to a certain extent.

FIG. 10 is a schematic diagram of a route planning apparatus provided by the present disclosure, which specifically includes: a receiving module 1001 configured to receive a target order to be delivered from a user; a determining module 1002 configured to receive goods according to the target order Address, determine the area of interest AOI to which the target order belongs as the target AOI; planning module 1003, which is configured to plan the delivery route of the target order according to the entrance and exit of the target AOI, where the target AOI’s The entrances and exits are marked by the above-mentioned method for marking the entrances and exits; the recommendation module 1004 is configured to recommend the planned delivery route to the delivery capacity that executes the target order.

Optionally, the planning module 1003 is configured to select a target entrance and exit from the entrances and exits of the target AOI according to the historical order corresponding to the target AOI; plan to pass the target entrance and exit according to the target entrance and exit The delivery route.

It can be seen from the above device that after receiving the target order to be delivered from the user, the service platform can recommend a delivery route to the delivery capacity that executes the target order according to the marked entry and exit of the target AOI to which the target order belongs. This will greatly facilitate the delivery capacity of the delivery capacity to execute the delivery task of the target order, and effectively improve the order execution efficiency of the delivery capacity.

The present disclosure also provides a computer-readable storage medium that stores a computer program, and the computer program can be used to execute the method of marking the entrance and exit provided in FIG. 1 or the method of route planning provided in FIG. 8.

The present disclosure also provides a schematic structural diagram of the electronic device shown in FIG. 11. As shown in Figure 11, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory to the memory and then runs it to implement the method of marking the entrance and exit described in FIG. 1 or the method of route planning described in FIG. 8. Of course, in addition to the software implementation, the present disclosure does not exclude other implementations, such as logic devices or a combination of software and hardware, etc. That is to say, the execution body of the following processing flow is not limited to each logic unit, and can also be Hardware or logic device.

In the 1990s, the improvement of a technology can be clearly distinguished between hardware improvements (for example, improvements in circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements in method flow). However, with the development of technology, the improvement of many methods and processes of today can be regarded as a direct improvement of the hardware circuit structure. Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by the hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (for example, a Field Programmable Gate Array (Field Programmable Gate Array, FPGA)) is such an integrated circuit whose logic function is determined by the user's programming of the device. It is programmed by the designer to "integrate" a digital system on a piece of PLD, without requiring chip manufacturers to design and manufacture dedicated integrated circuit chips. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly realized with "logic compiler" software, which is similar to the software compiler used in program development and writing, but before compilation The original code must also be written in a specific programming language, which is called Hardware Description Language (HDL), and there is not only one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language) , AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description), etc., currently most commonly used It is VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. It should also be clear to those skilled in the art that just a little bit of logic programming of the method flow in the above-mentioned hardware description languages and programming into an integrated circuit can easily obtain the hardware circuit that implements the logic method flow.

The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) executable by the (micro)processor. , Logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory controller can also be implemented as a part of the control logic of the memory. Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code manner, it is entirely possible to program the method steps to make the controller use logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded logic. The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as a structure within the hardware component. Or even, the device for realizing various functions can be regarded as both a software module for realizing the method and a structure within a hardware component.

The systems, devices, modules, or units illustrated in the above embodiments may be specifically implemented by computer chips or entities, or implemented by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cell phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Any combination of these devices.

For the convenience of description, when describing the above device, the functions are divided into various units and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and/or hardware.

Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The present disclosure is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity, or equipment that includes the element.

The present disclosure may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present disclosure can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

The various embodiments in the present disclosure are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The above descriptions are only the embodiments of the present disclosure, and are not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

A method of marking entrances and exits, including:

Determine the AOI of the area of interest to be marked;

Obtain at least one target historical order matching the AOI to be marked;

For each said target historical order,

Determine the delivery trajectory that the delivery capacity that executes the target historical order passes in the process of executing the target historical order, as the delivery trajectory corresponding to the target historical order;

According to the delivery trajectory corresponding to the target historical order, determine the intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection corresponding to the target historical order;

According to the respective intersection points corresponding to the at least one target historical order, the entrance and exit of the AOI to be marked is determined and marked.
The method of claim 1, wherein obtaining at least one target historical order matching the AOI to be marked comprises:

For each historical order,

Determine the delivery location of the distribution corresponding to the historical order;

Determine the AOI into which the delivery location falls through the preset AOI search tree;

If the AOI in the delivery location is the same as the AOI to be marked, the historical order is determined as the target historical order that matches the AOI to be marked.
The method according to claim 1, wherein the intersection of the distribution trajectory corresponding to the target historical order and the boundary of the AOI to be marked is determined according to the distribution trajectory corresponding to the target historical order, as the target history The intersection point corresponding to the order, including:

Determine the intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection to be identified;

Determine, in the distribution trajectory corresponding to the target historical order, a trajectory point adjacent to the to-be-identified intersection and located outside the boundary of the to-be-marked AOI as the first trajectory point;

Determine, in the delivery trajectory corresponding to the target historical order, a trajectory point adjacent to the to-be-identified intersection and located inside the boundary of the to-be-marked AOI as the second trajectory point;

If the delivery track corresponding to the target historical order contains not less than the first set number of first continuous track points and not less than the second set number of second continuous track points, use the to-be-identified intersection as the target The intersection point corresponding to the historical order, wherein the first continuous track point is located outside the boundary of the AOI to be marked and is adjacent to the first track point, and the second continuous track point is located at the AOI to be marked Inside the boundary and adjacent to the second track point.
The method according to any one of claims 1 to 3, wherein the determining and marking the entrance and exit of the AOI to be marked according to the respective intersection points corresponding to the at least one target historical order comprises:

For each of the target historical orders, if it is determined that the intersection corresponding to the target historical order meets a preset condition, use the intersection corresponding to the target historical order as a candidate labeling point;

According to each candidate marking point, the entrance and exit of the AOI to be marked is determined and marked.
5. The method of claim 4, wherein if it is determined that the intersection corresponding to the target historical order meets a preset condition, using the intersection corresponding to the target historical order as a candidate marking point comprises:

For each intersection corresponding to the target historical order,

Determine the trajectory point adjacent to the intersection in the distribution trajectory corresponding to the target historical order, and

Determine the line between the track point adjacent to the intersection and the intersection;

If the angle between the line and the vertical line corresponding to the intersection point is not greater than the set angle, the intersection point is determined to be a candidate labeled point that meets the preset conditions, wherein the vertical line corresponding to the intersection point passes through the intersection point and merges. The boundary of the AOI to be marked is perpendicular to the intersection point.
5. The method of claim 4, wherein if it is determined that the intersection corresponding to the target historical order meets a preset condition, using the intersection corresponding to the target historical order as a candidate marking point comprises:

For each intersection corresponding to the target historical order,

If the distance between the intersection point and the adjacent track point in the delivery track corresponding to the target historical order does not exceed the set distance, it is determined that the intersection point is a candidate marked point that meets the preset condition.
5. The method of claim 4, wherein if it is determined that the intersection corresponding to the target historical order meets a preset condition, using the intersection corresponding to the target historical order as a candidate marking point comprises:

For each intersection corresponding to the target historical order,

According to the travel direction of the delivery trajectory corresponding to the target historical order, if the intersection is the first intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked, it is determined that the intersection is a candidate that meets the preset conditions Mark point; or

According to the travel direction of the delivery trajectory corresponding to the target historical order, if the intersection is the last intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked, it is determined that the intersection is a candidate label that meets the preset conditions point.
The method according to claim 4, wherein the determining and marking the entrance and exit of the AOI to be marked according to each of the candidate marking points comprises:

Inputting each candidate annotation point into a preset screening model, and determining a distribution function used to characterize the probability density of each candidate annotation point;

Determining at least one wave crest from the distribution function;

For each of the wave crests, if the peak value of the wave crest is not less than the set threshold, the candidate marking point corresponding to the wave crest is used as the entrance and exit of the AOI to be marked and marked.
The method of claim 1, wherein before determining the delivery trajectory that the delivery capacity of the target historical order has passed during the execution of the target historical order is used as the delivery trajectory corresponding to the target historical order, The method also includes:

For each track point in the delivery track corresponding to the target historical order,

If the distance between the track point and the adjacent track point is not less than the set distance, the track point is removed from the delivery track corresponding to the target historical order.
The method of claim 1, wherein before determining the delivery trajectory that the delivery capacity of the target historical order has passed during the execution of the target historical order is used as the delivery trajectory corresponding to the target historical order, The method also includes:

For each track point in the delivery track corresponding to the target historical order,

If the delivery speed of the delivery capacity of the target historical order at the track point is not less than the set speed, the track point is removed from the delivery track corresponding to the target historical order.
A method of route planning including:

Receive target orders to be delivered from users;

According to the delivery address of the target order, determine the area of interest AOI to which the target order belongs as the target AOI;

Route planning for the delivery route of the target order according to the entrance and exit of the target AOI, wherein the entrance and exit of the target AOI are marked by any one of the above-mentioned methods of claims 1 to 10;

Recommend the planned distribution route to the distribution capacity that executes the target order.
The method according to claim 11, wherein the step of planning the delivery route of the target order according to the entrance and exit of the target AOI comprises:

According to the historical order corresponding to the target AOI, select a target entrance and exit from the entrances and exits of the target AOI;

According to the target entrance and exit, a delivery route through the target entrance and exit is planned.
A device for marking entrances and exits, including:

The first determining module is configured to determine the AOI of the region of interest to be marked;

An obtaining module, which is configured to obtain at least one target historical order matching the AOI to be marked;

The second determining module is configured to determine, for each of the target historical orders, the delivery trajectory that the delivery capacity of the target historical order passes through in the process of executing the target historical order, as the delivery trajectory corresponding to the target historical order ；

The third determining module is configured to determine, according to the delivery trajectory corresponding to the target historical order, the intersection of the delivery trajectory corresponding to the target historical order and the boundary of the AOI to be marked as the intersection corresponding to the target historical order;

The marking module is configured to determine and mark the entrance and exit of the AOI to be marked according to the respective intersection points corresponding to the at least one target historical order.
A route planning device, including:

Receiving module, which is configured to receive target orders to be delivered from users;

A determining module, which is configured to determine the region of interest AOI to which the target order belongs as the target AOI according to the delivery address of the target order;

A planning module configured to plan the delivery route of the target order according to the entrance and exit of the target AOI, wherein the entrance and exit of the target AOI are marked by any one of the above-mentioned methods of claims 1 to 10;

The recommendation module is configured to recommend the planned delivery route to the delivery capacity that executes the target order.
A computer-readable storage medium, characterized in that the storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1-10 or 11-12 is realized.
An electronic device comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor, wherein the processor implements the above claims 1 to when the computer program is executed. The method of any one of 10 or 11-12.