Method for determining material transportation path and device for determining material transportation path

Abstract

The present disclosure provides a method and device for determining a material transportation path. The method includes, in response to a path planning request, obtaining location information and distribution information of multiple facilities from a database; determining multiple first transportation paths for the first transportation device based on a demand point regression function and the endurance of the first transportation device; determining multiple second transportation paths for the second transportation device based on the location information, destination, and distribution information of multiple demand points; calculating the path cost of each to-be-screened path based on a preset energy-time cost function, wherein the to-be-screened path includes a second transportation path and a first transportation path corresponding to the second transportation path; and determining the to-be-screened path corresponding to the minimum path cost as a target planning path based on the path costs of the multiple to-be-screened paths, wherein the target planning path is used to control the first and second transportation devices to perform a material transportation task according to the target planning path.

Claims

1. A method for determining a material transportation route, comprising: In response to a route planning request, obtaining location information and delivery information of a plurality of facilities from a database, wherein the plurality of facilities include a warehouse and a plurality of demand points; determining, based on a demand point regression function and an endurance of a first transport device, a plurality of first transport routes for the first transport device, wherein the first transport routes include location information of the warehouse and a destination of the first transport device, and the demand point regression function is determined based on the location information of the plurality of demand points; For each of the first transport paths, determining a plurality of second transport paths for a second transport device based on the location information, the destinations, and the delivery information of the plurality of demand points, wherein the second transport paths represent transport routes for the second transport device to transport the materials to the plurality of demand points; Calculating a path cost of each to-be-screened path based on a preset energy-time cost function, wherein the to-be-screened path includes the second transport path and a first transport path corresponding to the second transport path; Based on the path costs of the plurality of paths to be screened, determining the path to be screened corresponding to the minimum path cost as a target planned path, wherein the target planned path is used to control the first transport device and the second transport device to perform the material transport task according to the target planned path; The step of determining a plurality of first transport routes of the first transport device based on the demand point regression function and the endurance of the first transport device includes: Performing linear regression processing on the location information of the plurality of demand points to obtain the demand point regression function; Determining, based on multiple cruising radiuses of the first transport device and the location information of the warehouse, a farthest transport area of ​​the first transport device corresponding to each cruising radius; For each of the farthest transport areas, obtaining a plurality of transport addresses based on a position coordinate system according to the farthest transport area and the demand point regression function; Determine a transport address closest to the plurality of demand points among the plurality of transport addresses as a destination of the first transport route; The demand point regression function is shown in formula (1), and the preset energy-time cost function is As shown in formula (2): in, 、 are the horizontal and vertical coordinates of the demand point regression function, are the horizontal and vertical coordinates of the i-th demand point, is the average value of the horizontal and vertical coordinates of n demand points, is the emergency coefficient, is the energy consumption cost, is the waiting time cost, is the cruising radius, is the energy consumed by the second transport device to fly from position i to position j, is the number of times the second transport device flies from position i to position j, , The energy consumed per unit distance when the first transport device is empty, is the number of packages required by demand point i, To increase the energy per unit distance transported by the first transport device per unit package, is the time it takes for the second transport device to arrive at position j from position i; , X and D are the demand point and destination respectively, The time it takes for the first transport device to travel from the warehouse to the destination D; Determining a plurality of second transport routes of the second transport device according to the location information of the plurality of demand points, the destinations and the delivery information includes: determining a plurality of initial planned paths for the second transport device based on the destination, location information of the plurality of demand points, and the delivery information; For each of the initial planned paths, the initial planned path is modified based on the power limit condition to obtain at least one second transportation path.

2. The method according to claim 1, wherein the power restriction condition includes a return power condition, an energy conservation condition, a single power consumption condition, and a flight start power condition, and the initial planned path includes multiple planned sub-paths, wherein: Each of the planned sub-paths represents a transportation path of the second transportation device from the destination or one demand point to another demand point; The step of modifying the initially planned path based on the power restriction condition to obtain at least one second transport path includes: For each of the planned sub-paths, if the power of the second transport device does not meet any of the return power condition, the energy conservation condition, the flight start power condition, and the single-trip power consumption condition, adding the destination to the planned sub-path to obtain a modified planned sub-path; The second transport path is generated according to the plurality of modified planned sub-paths.

3. The method according to claim 2, wherein: In the case where the second transport device is a drone, the return power condition is shown in formula (3), the energy conservation condition is shown in formula (4), the single power consumption condition is shown in formula (5), and the flight start power condition is shown in formula (6): , （3） - = （4） ≤ , , （5） , , （6） in, Represents the amount of electricity used to travel from location i to destination D, Characterize the energy consumed by an unmanned drone during takeoff and landing: Characterizes the energy consumed by a drone carrying a unit package during takeoff and landing: is the number of packages carried by the drone from location i to destination D, is the distance from location i to destination D, Energy required for an unmanned drone to fly per unit distance: To increase the energy of the unit package drone per unit distance flight: is the energy consumed by the drone flying from location i to location j, N is the set of demand point X and destination D, is the number of times the drone flies from position i to position j, , is the initial energy of the drone flying from position i to position j, The maximum battery capacity of the drone.

4. The method according to claim 1, wherein After modifying the initial planned path, the method further includes: For each second transport path, the second transport path is modified based on a package restriction condition to obtain at least one new second transport path, wherein the package restriction condition is used to determine whether the second transport device in the second transport path has sufficient packages.

5. The method according to claim 4, wherein the package restriction conditions include: Package delivery conditions, delivery quantity conditions, delivery frequency conditions at delivery points, and package transportation volume conditions; The modifying of the second transport path based on the package restriction condition to obtain at least one new second transport path includes at least one of the following: If the second transport device does not meet the package quantity condition in a planned sub-path of the second transport device from one demand point to another demand point in the second transport path, insert the destination into the planned sub-path so that the second transport device replenishes packages at the destination, thereby obtaining the new second transport path; If the number of packages carried by the second transport device in the planned sub-route for delivery from the second transport device to the demand point in the second transport route does not meet the delivery quantity condition, inserting the destination into the planned sub-route so that the second transport device replenishes packages at the destination and then transports the preset number of packages to the delivery point, thereby obtaining the new second transport route; If the number of delivery times for the same demand point in the plurality of planned sub-paths in the second transport path does not meet the delivery number condition, deleting the demand point in at least one of the planned sub-paths to obtain the new second transport path; When the number of packages of the second transport device in the planned sub-route with the departure point as the destination in the second transport path does not meet the package transport volume condition, the second transport device is subjected to a package loading and unloading operation.

6. The method according to claim 5, wherein: In the case where the second transport device is a drone, the package quantity condition is as shown in formula (7), the delivery quantity condition is as shown in formula (8), the delivery frequency condition is as shown in formula (9), and the package transport volume condition is as shown in formula (10): in, is the number of packages required by demand point i, The number of packages carried by the drone from i to j, is the number of times the drone flies from position i to position j, , is the maximum number of packages carried by the drone, X and D are the demand point and destination respectively.

7. A device for determining a material transportation path, comprising: an acquisition module, configured to acquire location information and delivery information of a plurality of facilities from a database in response to a route planning request, wherein the plurality of facilities include a warehouse and a plurality of demand points; a first determining module, configured to determine a plurality of first transport routes for the first transport device based on a demand point regression function and an endurance capability of the first transport device, wherein the first transport routes include location information of the warehouse and a destination of the first transport device, and the demand point regression function is determined based on the location information of the plurality of demand points; a second determining module configured to determine, for each of the first transport paths, a plurality of second transport paths for a second transport device based on the location information, the destinations, and the delivery information of the plurality of demand points, wherein the second transport paths represent transport routes for the second transport device to transport the materials to the plurality of demand points; a calculation module, configured to calculate a path cost of each to-be-screened path based on a preset energy-time cost function, wherein the to-be-screened path includes the second transport path and a first transport path corresponding to the second transport path; a third determining module, configured to determine, based on the path costs of the plurality of paths to be screened, a path to be screened corresponding to the minimum path cost as a target planned path, wherein the target planned path is used to control the first transport device and the second transport device to perform the material transport task according to the target planned path; The first determination module includes a linear regression unit, a first determination unit, a second determination unit, and a third determination unit: A linear regression unit is used to perform linear regression processing on the location information of multiple demand points to obtain a demand point regression function; a first determining unit, configured to determine, based on a plurality of cruising radiuses of the first transport device and location information of the warehouse, a farthest transport area of ​​the first transport device corresponding to each cruising radius; A second determining unit is configured to obtain, for each farthest transport area, a plurality of transport addresses based on a position coordinate system according to a regression function of the farthest transport area and a demand point; A third determining unit is configured to determine a transport address closest to the multiple demand points among the multiple transport addresses as a destination of a first transport route; Among them, the demand point regression function is shown in the following formula (11), and the preset energy-time cost function is As shown in formula (12): in, 、 are the horizontal and vertical coordinates of the demand point regression function, are the horizontal and vertical coordinates of the i-th demand point, is the average value of the horizontal and vertical coordinates of n demand points, is the emergency coefficient, is the energy consumption cost, is the waiting time cost, is the cruising radius, is the energy consumed by the second transport device to fly from position i to position j, is the number of times the second transport device flies from position i to position j, , The energy consumed per unit distance when the first transport device is empty, is the number of packages required by demand point i, To increase the energy per unit distance transported by the first transport device per unit package, is the time it takes for the second transport device to arrive at position j from position i; , X and D are the demand point and destination respectively, The time it takes for the first transport device to travel from the warehouse to the destination D; The second determining module includes a fourth determining unit and a fifth determining unit; a fourth determining unit, configured to determine a plurality of initial planned paths for the second transport device based on the destination, location information of the plurality of demand points, and delivery information; The fifth determining unit is configured to modify each initially planned path based on the power restriction condition to obtain at least one second transport path.

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