Logistics cabinet and drone collaborative delivery task scheduling method and system

Abstract

The present invention provides a method, system, storage medium and electronic device for scheduling delivery tasks in collaboration between logistics cabinets and drones, and relates to the technical field of drone task planning. In the present invention, the following steps are performed: determining whether a delivery task set T is empty; if so, outputting an execution plan list Q; otherwise, proceeding to the next step; if a task ring C exists in the delivery task set T, proceeding to the next step; the task ring C is connected by a number of delivery tasks connected end to end; if there is a drone parked on a logistics cabinet in at least one logistics station in the task ring C, proceeding to the next step; using the task ring C as an execution task sequence, formulating an execution plan for the execution task sequence and adding it to the execution plan list Q, and deleting the tasks in the task ring C from the delivery task set T. By continuously identifying the task rings in the delivery task set, all delivery tasks are completed with as few auxiliary tasks as possible, so that multiple drones can complete all delivery tasks with the shortest total flight distance.

Description

Technical Field

[0001] The present invention relates to the technical field of drone mission planning, and in particular to a method, system, storage medium and electronic equipment for scheduling collaborative delivery tasks between logistics cabinets and drones. Background Art

[0002] In the logistics sector, drone delivery offers advantages such as speed, safety, 24-hour availability, environmental friendliness, the ability to avoid road traffic congestion, and the ability to free up manpower. The collaborative delivery of packages using drones and logistics lockers offers high practical value and broad application prospects. Several companies have successfully applied this model to urban delivery scenarios, including fast food, plasma, and nucleic acid samples.

[0003] In the field of operations research, problems related to this problem include vehicle routing, machine scheduling, drone mission planning, and quay crane scheduling. While these problems share some characteristics with this problem, the more closely related production and transportation planning problem is fundamentally different from it. Production and transportation planning is an integrated problem of machine scheduling and path planning, while this problem is a coupled problem of these two. Furthermore, in recent years, a number of research projects have emerged on planning problems based on vehicle-machine collaboration, primarily including the traveling salesman problem with drones and the vehicle routing problem with drones. However, in these problems, drones are mapped one-to-one to carrier platforms (e.g., trucks), and drones do not switch between carrier platforms. Therefore, they differ from the shortest path planning problem for collaborative delivery between drones and logistics cabinets.

[0004] In view of this, it is necessary to provide a technical solution to the problem of collaborative delivery path planning between drones and logistics cabinets. Summary of the Invention

[0005] (1) Technical problems solved

[0006] In response to the shortcomings of the existing technology, the present invention provides a method, system, storage medium and electronic equipment for scheduling collaborative delivery tasks between logistics cabinets and drones, which solves the technical problem of unreasonable path planning in the existing collaborative delivery of logistics cabinets and drones.

[0007] (2) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] A method for scheduling collaborative delivery tasks between logistics cabinets and drones, comprising:

[0010] S1. Initialize the system state s, the distribution task set T and the empty execution plan list Q;

[0011] S2. Determine whether the delivery task set T is empty. If so, output the execution plan list Q. Otherwise, go to S3.

[0012] S3. If there is a task ring C in the delivery task set T, go to S4; the task ring C is connected by a number of delivery tasks connected end to end;

[0013] S4. If there is at least one logistics station in task ring C with a drone parked on a logistics cabinet, go to S5.

[0014] S5. Take task ring C as the execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and delete the tasks in task ring C from the distribution task set T, and go to S2.

[0015] Preferably, if there is no task ring C in the delivery task set T in S3; or if there are no drones parked on the logistics cabinets in all logistics sites in the task ring C in S4, then go to S6;

[0016] S6. If there is at least one delivery task t in the delivery task set T i Satisfaction: t i Delivery site p i There is at least one logistics cabinet with a drone parked on it, and t i The receiving site r i There is at least one logistics cabinet where no drone is docked. If so, go to S7.

[0017] S7, the task t i As an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t i Delete from the delivery task set T and go to S2.

[0018] Preferably, if all the delivery tasks t in the delivery task set T in S6 i If none of the conditions are met, go to S8;

[0019] S8. Randomly read a delivery task t from the delivery task set T. j , find t j Auxiliary tasks t k , so that the auxiliary task t k After adding and executing, the delivery task t j becomes executable;

[0020] S9, the auxiliary task t k and delivery tasks j Together as an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t jDelete from the delivery task set T and go to S2.

[0021] Preferably, in said S8, t is searched j Auxiliary tasks t k ,include:

[0022] S101, read the delivery task t j , read the system status s, create a new auxiliary task t k ;

[0023] S102, determine t j Delivery site p j Is there a drone? If yes, go to S103; otherwise, go to S106.

[0024] S103, set the delivery task t j The receiving site r j t k delivery sites;

[0025] S104, the logistics site containing the idle UAV cabinet is divided into two groups according to the logistics site r j The distance is sorted from near to far;

[0026] S105. Select distance r j The nearest logistics station with an idle logistics cabinet is t k The receiving site goes to S1011;

[0027] S106: Determine the delivery task t j The receiving site r j Is there an idle logistics cabinet? If yes, go to S107; otherwise, go to S1010.

[0028] S107, let t j Delivery site p j t k receiving sites;

[0029] S108, the logistics sites with drones will be arranged in accordance with the logistics site p j The distance is sorted from near to far;

[0030] S109, select distance p j The nearest logistics station with drones is t k The delivery site, go to S1011;

[0031] S1010, let t j The receiving site r j t k delivery site, let t j Delivery site p j t kThe receiving site goes to S1011;

[0032] S1011, output auxiliary task r k .

[0033] Preferably, the step S3 of determining whether a task ring C exists in the delivery task set T includes:

[0034] S10. Create a new delivery task replica set CoT and copy all delivery tasks in the delivery task set T. Create a new delivery site set P and initialize it to an empty set. Create a new receiving site set R and initialize it to an empty set. Create a new task ring set C and initialize it to an empty set.

[0035] S20, determine whether the delivery task copy set CoT is empty, if so, go to S170, otherwise go to S30;

[0036] S30, read a task t in the distribution task copy set CoT. i′ , the task t i′ The corresponding delivery site p i′ Add to the delivery site set P, receiving site r i′ Add to receiving site set R, delete task t in CoT i′ ;

[0037] S40, determine whether there is a logistics site p in the distribution task copy set CoT. i′ It is a new task for the delivery site. If so, go to S50, otherwise go to S60;

[0038] S50, read a task copy set CoT with a logistics site p i′ New task t for the delivery site a , the task t a The corresponding receiving site r a Add to receiving site set R, delete task t in CoT a , go to S40;

[0039] S60, determine whether the receiving site set R is an empty set, if so, go to S20, otherwise go to S70;

[0040] S70. Read a logistics site in the set R and record it as r f , and its corresponding task is recorded as t f ;

[0041] S80, determine whether there is a logistics site r in the distribution task copy set CoT. f If there is a task for the delivery site, go to S100, otherwise go to S90;

[0042] S90, the logistics site rf Delete from set R and go to S60;

[0043] S100, will be based on logistics sites f The task of the delivery station is denoted as t s , t f Marked as t s The parent task of task t s The corresponding delivery site p s Add to the delivery site set P, receiving site r s Add to receiving site set R, delete task t in CoT s ;

[0044] S110: Determine whether there is a receiving site r in the delivery site set P. s If yes, go to S120, otherwise go to S60;

[0045] S120, the task t s Add to task ring set C;

[0046] S130: Create a new added task object at=t s ;

[0047] S140, adding the parent task of at to the task ring set C;

[0048] S150, determine whether the delivery site of the parent task of at is r s If yes, go to S170, otherwise go to S160;

[0049] S160, assign at's parent task to at, and go to S140;

[0050] S170: Output task ring set C.

[0051] A logistics cabinet and drone collaborative delivery task scheduling system, including:

[0052] Initialization module, used to execute S1, initialize the system state s, the distribution task set T and the empty execution plan list Q;

[0053] The first judgment module is used to execute S2 and determine whether the delivery task set T is empty. If so, it outputs the execution plan list Q. Otherwise, it goes to the second judgment module to execute S3;

[0054] The second judgment module is used to execute S3. If there is a task ring C in the delivery task set T, the process goes to the third judgment module to execute S4; the task ring C is connected by a number of delivery tasks connected end to end;

[0055] The third judgment module is used to execute S4. If there is a drone parked on a logistics cabinet in at least one logistics station in the task ring C, the process goes to the first execution module to execute S5.

[0056] The first execution module is used to execute S5, take task ring C as the execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and delete the tasks in task ring C from the distribution task set T, and turn to the first judgment module to execute S2.

[0057] Preferably, if the second judgment module executes S3 and there is no task ring C in the delivery task set T; or if there are no drones docked on the logistics cabinets in all logistics stations in the task ring C during the third judgment module executes S4, then the process goes to the fourth judgment module to execute S6;

[0058] The fourth judgment module is used to execute S6, if there is at least one delivery task t in the delivery task set T i Satisfaction: t i Delivery site p i There is at least one logistics cabinet with a drone parked on it, and t i The receiving site r i There is at least one logistics cabinet where no drone is docked. If so, the process goes to the second execution module and executes S7.

[0059] The second execution module is used to execute S7, and to set the task t i As an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t i Delete it from the delivery task set T and go to the first judgment module to execute S2.

[0060] Preferably, if all the delivery tasks t in the delivery task set T in the fourth judgment module S6 process i If none of the conditions are met, the auxiliary module will be turned to execute S8;

[0061] Auxiliary module, used to execute S8, randomly read a delivery task t from the delivery task set T j , find t j Auxiliary tasks t k , so that the auxiliary task t k After adding and executing, the delivery task t j becomes executable;

[0062] The third execution module is used to execute S9, and to convert the auxiliary task t k and delivery tasks j Together as an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t jDelete it from the delivery task set T and go to the first judgment module to execute S2.

[0063] A storage medium stores a computer program for scheduling collaborative delivery tasks between logistics cabinets and drones, wherein the computer program enables a computer to execute the method for scheduling collaborative delivery tasks between logistics cabinets and drones as described above.

[0064] An electronic device, comprising:

[0065] one or more processors;

[0066] Memory; and

[0067] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing the logistics cabinet and drone collaborative delivery task scheduling method as described above.

[0068] (3) Beneficial effects

[0069] The present invention provides a method, system, storage medium, and electronic device for scheduling collaborative delivery tasks between logistics cabinets and drones. Compared with existing technologies, it has the following advantages:

[0070] The present invention includes the following steps: S1, initializing a system state s, a delivery task set T, and an empty execution plan list Q; S2, determining whether the delivery task set T is empty; if so, outputting the execution plan list Q; otherwise, proceeding to S3; S3, if a task ring C exists in the delivery task set T, proceeding to S4; the task ring C is composed of a plurality of delivery tasks connected end to end; S4, if at least one logistics cabinet in a logistics station in the task ring C has a drone docked on it, proceeding to S5; S5, using the task ring C as an execution task sequence, formulating an execution plan for the execution task sequence and adding it to the execution plan list Q, and deleting the tasks in the task ring C from the delivery task set T, proceeding to S2. By continuously identifying the task rings in the delivery task set, all delivery tasks are completed with as few auxiliary tasks as possible, allowing multiple drones to complete all delivery tasks with the shortest total flight distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0072] Figure 1A flowchart of a method for scheduling collaborative delivery tasks between a logistics cabinet and a drone provided by an embodiment of the present invention;

[0073] Figure 2 A flowchart of another method for scheduling collaborative delivery tasks between a logistics cabinet and a drone provided by an embodiment of the present invention;

[0074] Figure 3 A logical framework diagram of a method for scheduling collaborative delivery tasks between a logistics cabinet and a drone, provided by an embodiment of the present invention;

[0075] Figure 4 A schematic diagram of an executable task ring provided by an embodiment of the present invention;

[0076] Figures 5-7 Schematic diagrams of three situations where auxiliary tasks need to be added, provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0077] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0078] The embodiments of the present application solve the technical problem of unreasonable path planning for collaborative delivery between logistics cabinets and drones by providing a method, system, storage medium and electronic equipment for scheduling collaborative delivery tasks between logistics cabinets and drones.

[0079] The technical solution in the embodiments of the present application is to solve the above technical problems, and the overall idea is as follows:

[0080] In the collaborative delivery model between logistics lockers and drones, the top of the logistics locker is equipped with an automated package loading and unloading device, which also serves as a landing platform for drones. The drone automatically loads the package atop the logistics locker and automatically unloads the package after flying to the designated logistics locker. The drone flies from the departure point to the destination, and the routes between the multiple logistics lockers it visits in an orderly manner are connected to form a route. The drone needs to load and unload cargo and replace batteries at the logistics locker, and each logistics locker can only serve one drone at a time.

[0081] Drone flight consumes energy. The purpose of this invention is to arrange the delivery routes and detailed time of drones so that multiple drones can complete all delivery tasks with the shortest total flight distance.

[0082] To achieve the above objectives, the present invention includes the following steps: S1, initializing a system state s, a delivery task set T, and an empty execution plan list Q; S2, determining whether the delivery task set T is empty; if so, outputting the execution plan list Q; otherwise, proceeding to S3; S3, if a task ring C exists in the delivery task set T, proceeding to S4; the task ring C is composed of a plurality of end-to-end delivery tasks; S4, if at least one logistics station in the task ring C has a drone docked on a logistics cabinet, proceeding to S5; S5, using the task ring C as an execution task sequence, formulating an execution plan for the execution task sequence and adding it to the execution plan list Q, and deleting the tasks in the task ring C from the delivery task set T, proceeding to S2. By continuously identifying the task rings in the delivery task set, all delivery tasks are completed with as few auxiliary tasks as possible, allowing multiple drones to complete all delivery tasks with the shortest total flight distance.

[0083] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0084] Example:

[0085] like Figure 1 As shown, an embodiment of the present invention provides a method for scheduling delivery tasks of a logistics cabinet and a drone in a collaborative manner, including:

[0086] S1. Initialize the system state s, the distribution task set T and the empty execution plan list Q;

[0087] S2. Determine whether the delivery task set T is empty. If so, output the execution plan list Q. Otherwise, go to S3.

[0088] S3. If there is a task ring C in the delivery task set T, go to S4; the task ring C is connected by a number of delivery tasks connected end to end;

[0089] S4. If there is at least one logistics station in task ring C with a drone parked on a logistics cabinet, go to S5.

[0090] S5. Take task ring C as the execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and delete the tasks in task ring C from the distribution task set T, and go to S2.

[0091] The embodiment of the present invention continuously identifies task loops in a delivery task set and completes all delivery tasks by adding as few auxiliary tasks as possible, so that multiple drones can complete all delivery tasks with the shortest total flight distance.

[0092] Next, the details of the above technical solution will be introduced in detail in conjunction with the drawings and specific contents of the specification:

[0093] First of all, it should be noted that the method for scheduling logistics cabinet and drone collaborative delivery tasks provided by the embodiment of the present invention is applied to T delivery tasks, N D There are N logistics drones, P logistics stations, and each logistics station contains several smart logistics cabinets (hereinafter referred to as logistics cabinets), totaling N S (N S >N D ) logistics cabinet instant delivery scenario, t i represents the i-th delivery task, 1≤i≤N T , d j represents the jth drone, 1≤j≤N D , s represents the system status, that is, the number of logistics drones currently docked at each logistics station.

[0094] The i-th delivery task t i Corresponding to a delivery site p i (i.e., the logistics site where the drone departs in a single delivery mission) and a receiving site r i (i.e., the logistics site that the drone arrives at in a single delivery mission), delivery mission t i It is to use logistics drones to transport the corresponding packages from their delivery sites to i Deliver to its receiving station i .

[0095] The j-th drone d j It can only be docked on the logistics cabinet and cannot be parked on the ground or other places. j Initially docked at the logistics cabinet o j UAV d j Only one delivery task is performed at a time (only one delivery package is carried).

[0096] Based on practical considerations, not all tasks in the delivery task set T can always be connected end to end to form a task ring. In most cases, there is no task ring in the delivery task set T or the task ring does not meet the conditions in S3. Therefore:

[0097] like Figures 2-3 As shown, in one embodiment, if there is no task ring C in the delivery task set T in S3; or if there are no drones parked on the logistics cabinets in all logistics stations in the task ring C in S4, then go to S6;

[0098] S6. If there is at least one delivery task t in the delivery task set T i Satisfaction: t i Delivery site p i There is at least one logistics cabinet with a drone parked on it, and t i The receiving site ri There is at least one logistics cabinet where no drone is docked. If so, go to S7.

[0099] S7, the task t i As an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t i Delete from the delivery task set T and go to S2.

[0100] As well as Figures 2-3 As shown, in one embodiment, if all the delivery tasks t i If none of the conditions are met, go to S8;

[0101] S8. Randomly read a delivery task t from the delivery task set T. j , find t j Auxiliary tasks t k , so that the auxiliary task t k After adding and executing, the delivery task t j becomes executable;

[0102] S9, the auxiliary task t k and delivery tasks j Together as an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t j Delete from the delivery task set T and go to S2.

[0103] In essence, the scheduling method provided by the embodiment of the present invention is a heuristic scheduling method, which proposes the concept of task ring, such as Figure 4 As shown, it specifically refers to connecting several delivery tasks that are connected end to end to form a task ring. Based on the property: after executing the tasks in the task ring, the number of drones parked on the logistics cabinet is equal to that before executing the tasks in the task ring. The task rings in the delivery task set are continuously identified to complete all delivery tasks by adding as few auxiliary tasks as possible.

[0104] Specifically, the step S3 of determining whether a task ring C exists in the delivery task set T includes:

[0105] S10. Create a new delivery task replica set CoT and copy all delivery tasks in the delivery task set T. Create a new delivery site set P and initialize it to an empty set. Create a new receiving site set R and initialize it to an empty set. Create a new task ring set C and initialize it to an empty set.

[0106] S20, determine whether the delivery task copy set CoT is empty, if so, go to S170, otherwise go to S30;

[0107] S30, read a task t in the distribution task copy set CoT. i′ , the task t i′ The corresponding delivery site p i′ Add to the delivery site set P, receiving site r i′ Add to receiving site set R, delete task t in CoT i′ ;

[0108] S40, determine whether there is a logistics site p in the distribution task copy set CoT. i′ It is a new task for the delivery site. If so, go to S50, otherwise go to S60;

[0109] S50, read a task copy set CoT with a logistics site p i′ New task t for the delivery site a , the task t a The corresponding receiving site r a Add to receiving site set R, delete task t in CoT a , go to S40;

[0110] S60, determine whether the receiving site set R is an empty set, if so, go to S20, otherwise go to S70;

[0111] S70. Read a logistics site in the set R and record it as r f , and its corresponding task is recorded as t f ;

[0112] S80, determine whether there is a logistics site r in the distribution task copy set CoT. f If there is a task for the delivery site, go to S100, otherwise go to S90;

[0113] S90, the logistics site r f Delete from set R and go to S60;

[0114] S100, will be based on logistics sites f The task of the delivery station is denoted as t s , t f Marked as t s The parent task of task t s The corresponding delivery site p s Add to the delivery site set P, receiving site r s Add to receiving site set R, delete task t in CoT s ;

[0115] S110: Determine whether there is a receiving site r in the delivery site set P. s If yes, go to S120, otherwise go to S60;

[0116] S120, the task t s Add to task ring set C;

[0117] S130: Create a new added task object at=t s ;

[0118] S140, adding the parent task of at to the task ring set C;

[0119] S150, determine whether the delivery site of the parent task of at is r s If yes, go to S170, otherwise go to S160;

[0120] S160, assign at's parent task to at, and go to S140;

[0121] S170: Output task ring set C.

[0122] In addition, considering that drones consume energy when flying, the optimization goal of the scheduling problem focused on in the embodiment of the present invention can be summarized as how to arrange the delivery routes and detailed time of drones so that multiple drones can complete all delivery tasks with the shortest total flight distance.

[0123] Because not every logistics station has drones, drones may need to be deployed from other logistics stations to perform delivery tasks. Sometimes, all the logistics cabinets at the receiving station are not idle, meaning that drones are parked on top of all the logistics cabinets at the destination logistics station. Therefore, drones from the receiving station may need to be deployed to create free landing pads. These unmanned flights involving drones are called auxiliary missions.

[0124] To expand on this, there are three situations where auxiliary tasks need to be added:

[0125] (1) Figure 5 As shown, there are drones at the delivery site, but there are no idle logistics cabinets at the receiving site. The drones at the receiving site need to be transferred to create idle logistics cabinets.

[0126] (2) Figure 6 As shown in the figure, there are no drones at the delivery site, but there are idle logistics cabinets at the receiving site, so drones need to be dispatched from other sites to perform the task;

[0127] (3) Figure 7 As shown in the figure, there are no drones at the delivery site and no idle logistics cabinets at the receiving site. It is necessary to both dispatch drones to perform tasks and create idle logistics cabinets.

[0128] Accordingly, the search for t in S8 j Auxiliary tasks t k ,include:

[0129] S101, read the delivery task t j , read the system status s, create a new auxiliary task t k ;

[0130] S102, determine t j Delivery site p j Is there a drone? If yes, go to S103; otherwise, go to S106.

[0131] S103, set the delivery task t j The receiving site r j t k delivery sites;

[0132] S104, the logistics site containing the idle UAV cabinet is divided into two groups according to the logistics site r j The distance is sorted from near to far;

[0133] S105. Select distance r j The nearest logistics station with an idle logistics cabinet is t k The receiving site goes to S1011;

[0134] S106: Determine the delivery task t j The receiving site r j Is there an idle logistics cabinet? If yes, go to S107; otherwise, go to S1010.

[0135] S107, let t j Delivery site p j t k receiving sites;

[0136] S108, the logistics sites with drones will be arranged in accordance with the logistics site p j The distance is sorted from near to far;

[0137] S109, select distance p j The nearest logistics station with drones is t k The delivery site, go to S1011;

[0138] S1010, let t j The receiving site r j t k delivery site, let t j Delivery site p j t k The receiving site goes to S1011;

[0139] S1011. Output auxiliary task t k .

[0140] An embodiment of the present invention provides a logistics cabinet and drone collaborative delivery task scheduling system, including:

[0141] Initialization module, used to execute S1, initialize the system state s, the distribution task set T and the empty execution plan list Q;

[0142] The first judgment module is used to execute S2 and determine whether the delivery task set T is empty. If so, it outputs the execution plan list Q. Otherwise, it goes to the second judgment module to execute S3;

[0143] The second judgment module is used to execute S3. If there is a task ring C in the delivery task set T, the process goes to the third judgment module to execute S4; the task ring C is connected by a number of delivery tasks connected end to end;

[0144] The third judgment module is used to execute S4. If there is a drone parked on a logistics cabinet in at least one logistics station in the task ring C, the process goes to the first execution module to execute S5.

[0145] The first execution module is used to execute S5, take task ring C as the execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and delete the tasks in task ring C from the distribution task set T, and turn to the first judgment module to execute S2.

[0146] In one embodiment, if during the execution of S3 by the second judgment module, there is no task ring C in the delivery task set T; or during the execution of S4 by the third judgment module, no drone is docked on the logistics cabinets in all logistics stations in the task ring C, then the process proceeds to the fourth judgment module to execute S6;

[0147] The fourth judgment module is used to execute S6, if there is at least one delivery task t in the delivery task set T i Satisfaction: t i Delivery site p i There is at least one logistics cabinet with a drone parked on it, and t i The receiving site r i There is at least one logistics cabinet where no drone is docked. If so, the process goes to the second execution module and executes S7.

[0148] The second execution module is used to execute S7 and set task t i As an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t i Delete it from the delivery task set T and go to the first judgment module to execute S2.

[0149] In one embodiment, if all the delivery tasks t in the delivery task set T are i If none of the conditions are met, the auxiliary module will be turned to execute S8;

[0150] Auxiliary module, used to execute S8, randomly read a delivery task t from the delivery task set T j , find t j Auxiliary tasks t k , so that the auxiliary task t k After adding and executing, the delivery task t j becomes executable;

[0151] The third execution module is used to execute S9, and to convert the auxiliary task t k and delivery tasks j Together as an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t j Delete it from the delivery task set T and go to the first judgment module to execute S2.

[0152] An embodiment of the present invention provides a storage medium storing a computer program for scheduling collaborative delivery tasks between logistics cabinets and drones, wherein the computer program enables a computer to execute the method for scheduling collaborative delivery tasks between logistics cabinets and drones as described above.

[0153] An electronic device, comprising:

[0154] one or more processors;

[0155] Memory; and

[0156] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing the logistics cabinet and drone collaborative delivery task scheduling method as described above.

[0157] In summary, compared with the existing technology, the present invention has the following beneficial effects:

[0158] The embodiment of the present invention continuously identifies task loops in a delivery task set and completes all delivery tasks by adding as few auxiliary tasks as possible, so that multiple drones can complete all delivery tasks with the shortest total flight distance.

[0159] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0160] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for scheduling collaborative delivery tasks between logistics cabinets and drones, characterized in that: include: S1. Initialize the system state s, the distribution task set T and the empty execution plan list Q; S2. Determine whether the delivery task set T is empty. If so, output the execution plan list Q. Otherwise, go to S3. S3. If there is a task ring C in the delivery task set T, go to S4; the task ring C is connected by a number of delivery tasks connected end to end; S4. If there is at least one logistics station in task ring C with a drone parked on a logistics cabinet, go to S5. S5. Take task ring C as the execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and delete the tasks in task ring C from the distribution task set T, and go to S2.

2. The method for scheduling collaborative delivery tasks between logistics cabinets and drones according to claim 1, characterized in that: If there is no task ring C in the delivery task set T in S3; or if there are no drones parked on the logistics cabinets in all logistics stations in the task ring C in S4, then go to S6; S6. If there is at least one delivery task t in the delivery task set T i Satisfaction: t i Delivery site p i There is at least one logistics cabinet with a drone parked on it, and t i The receiving site r i There is at least one logistics cabinet where no drone is docked. If so, go to S7. S7, the task t i As an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t i Delete from the delivery task set T and go to S2.

3. The method for scheduling collaborative delivery tasks between logistics cabinets and drones according to claim 2, characterized in that: If all the delivery tasks t in the delivery task set T in S6 i If none of the conditions are met, go to S8; S8. Randomly read a delivery task t from the delivery task set T. j , find t j Auxiliary tasks t k , so that the auxiliary task t k After adding and executing, the delivery task t j becomes executable; S9, the auxiliary task t k and delivery tasks j Together as an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t j Delete from the delivery task set T and go to S2.

4. The method for scheduling collaborative delivery tasks between logistics cabinets and drones according to claim 3, wherein: The S8 is looking for t j Auxiliary tasks t k ,include: S101, read the delivery task t j , read the system status s, create a new auxiliary task t k ; S102, determine t j Delivery site p j Is there a drone? If yes, go to S103; otherwise, go to S106. S103, set the delivery task t j The receiving site r j t k delivery sites; S104, the logistics site containing the idle UAV cabinet is divided into two groups according to the logistics site r j The distance is sorted from near to far; S105. Select distance r j The nearest logistics station with an idle logistics cabinet is t k The receiving site goes to S1011; S106: Determine the delivery task t j The receiving site r j Is there an idle logistics cabinet? If yes, go to S107; otherwise, go to S1010. S107, let t j Delivery site p j t k receiving sites; S108, the logistics sites with drones will be arranged in accordance with the logistics site p j The distance is sorted from near to far; S109, select distance p j The nearest logistics station with drones is t k The delivery site, go to S1011; S1010, let t j The receiving site r j t k delivery site, let t j Delivery site p j t k The receiving site goes to S1011; S1011. Output auxiliary task t k .

5. The method for scheduling collaborative delivery tasks between a logistics cabinet and a drone according to any one of claims 1 to 4, characterized in that: The step S3 of determining whether there is a task ring C in the delivery task set T includes: S10. Create a new delivery task replica set CoT and copy all delivery tasks in the delivery task set T. Create a new delivery site set P and initialize it to an empty set. Create a new receiving site set R and initialize it to an empty set. Create a new task ring set C and initialize it to an empty set. S20, determine whether the delivery task copy set CoT is empty, if so, go to S170, otherwise go to S30; S30, read a task t in the distribution task copy set CoT. i′ , the task t i′ The corresponding delivery site p i′ Add to the delivery site set P, receiving site r i′ Add to receiving site set R, delete task t in CoT i′ ; S40, determine whether there is a logistics site p in the distribution task copy set CoT. i′ It is a new task for the delivery site. If so, go to S50, otherwise go to S60; S50, read a task copy set CoT with a logistics site p i′ New task t for the delivery site a , the task t a The corresponding receiving site r a Add to receiving site set R, delete task t in CoT a , go to S40; S60, determine whether the receiving site set R is an empty set, if so, go to S20, otherwise go to S70; S70. Read a logistics site in the set R and record it as r f , and its corresponding task is recorded as t f ; S80, determine whether there is a logistics site r in the distribution task copy set CoT. f If there is a task for the delivery site, go to S100, otherwise go to S90; S90, the logistics site r f Delete from set R and go to S60; S100, will be based on logistics sites f The task of the delivery station is denoted as t s , t f Marked as t s The parent task of task t s The corresponding delivery site p s Add to the delivery site set P, receiving site r s Add to receiving site set R, delete task t in CoT s ; S110: Determine whether there is a receiving site r in the delivery site set P. s If yes, go to S120, otherwise go to S60; S120, the task t s Add to task ring set C; S130: Create a new added task object at=t s ; S140, adding the parent task of at to the task ring set C; S150, determine whether the delivery site of the parent task of at is r s If yes, go to S170, otherwise go to S160; S160, assign at's parent task to at, and go to S140; S170: Output task ring set C.

6. A logistics cabinet and drone collaborative delivery task scheduling system, characterized by: include: Initialization module, used to execute S1, initialize the system state s, the distribution task set T and the empty execution plan list Q; The first judgment module is used to execute S2 and determine whether the delivery task set T is empty. If so, it outputs the execution plan list Q. Otherwise, it goes to the second judgment module to execute S3; The second judgment module is used to execute S3. If there is a task ring C in the delivery task set T, the process goes to the third judgment module to execute S4; the task ring C is connected by a number of delivery tasks connected end to end; The third judgment module is used to execute S4. If there is a drone parked on a logistics cabinet in at least one logistics station in the task ring C, the process goes to the first execution module to execute S5. The first execution module is used to execute S5, take task ring C as the execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and delete the tasks in task ring C from the distribution task set T, and turn to the first judgment module to execute S2.

7. The logistics cabinet and drone collaborative delivery task scheduling system according to claim 6, characterized in that: If, during the execution of S3 by the second judgment module, there is no task ring C in the delivery task set T; or, during the execution of S4 by the third judgment module, no drone is docked on the logistics cabinets in all logistics stations in the task ring C, then the process proceeds to the fourth judgment module to execute S6; The fourth judgment module is used to execute S6, if there is at least one delivery task t in the delivery task set T i Satisfaction: t i Delivery site p i There is at least one logistics cabinet with a drone parked on it, and t i The receiving site r i There is at least one logistics cabinet where no drone is docked. If so, the process goes to the second execution module and executes S7. The second execution module is used to execute S7, and to set the task t i As an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list Q, and assign task t i Delete it from the delivery task set T and go to the first judgment module to execute S2.

8. The logistics cabinet and drone collaborative delivery task scheduling system according to claim 7, characterized in that: If all the delivery tasks t in the delivery task set T in the fourth judgment module S6 are i If none of the conditions are met, the auxiliary module will be turned to execute S8; Auxiliary module, used to execute S8, randomly read a delivery task t from the delivery task set T j , find t j Auxiliary tasks t k , so that the auxiliary task t k After adding and executing, the delivery task t j becomes executable; The third execution module is used to execute S9, and to convert the auxiliary task t k and delivery tasks j Together as an execution task sequence, formulate an execution plan for the execution task sequence and add it to the execution plan list q, and assign task t j Delete it from the delivery task set T and go to the first judgment module to execute S2.

9. A storage medium, characterized in that: It stores a computer program for scheduling collaborative delivery tasks between logistics cabinets and drones, wherein the computer program enables the computer to execute the method for scheduling collaborative delivery tasks between logistics cabinets and drones as described in any one of claims 1 to 5.

10. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing the logistics cabinet and drone collaborative delivery task scheduling method according to any one of claims 1 to 5.

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