Path planning method and device

Abstract

The invention discloses a path planning method and device. According to one specific embodiment, the method comprises the steps that part of path planning information of uncompleted nodes corresponding to uncompleted waybills in initial path planning information is determined, and the initial path planning information is determined through path planning based on predetermined waybill nodes corresponding to multiple waybills; combining the obtained waybills to be added and the unfinished waybills to obtain a total waybill set; and on the basis of keeping the relative sequence of the uncompleted nodes in the partial path planning information, performing path planning on the waybill nodes corresponding to the total waybill set, and determining updated path planning information. The method has a path planning function before collection and dispatch, and supports an order arrangement function of integrating original uncompleted waybills and newly added waybills in collection and dispatch; and the relative sequence of the original unfinished nodes is kept unchanged, so that the flexibility and efficiency of the collection and dispatching process are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technology, specifically to logistics and distribution technology, and more particularly to a path planning method, device, computer-readable medium, and electronic device. Background Art

[0002] At present, the logistics terminal's order scheduling function for waybills to be collected and delivered is mainly used for couriers to plan a reasonable delivery sequence for the assigned waybills to be collected and delivered before executing each wave of delivery tasks. However, it is unable to perform route planning for real-time newly added waybills during the delivery process to add them to the collection and delivery tasks. Summary of the invention

[0003] The embodiments of the present application provide a path planning method, device, computer-readable medium, and electronic device.

[0004] In the first aspect, an embodiment of the present application provides a path planning method, including: determining partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of waybills determined in advance; obtaining a total waybill set by combining the acquired waybills to be added and the unfinished waybills; performing path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determining the updated path planning information.

[0005] In some examples, the above-mentioned path planning is performed on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and the updated path planning information is determined, including: on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, an adaptive large neighborhood search algorithm is used to perform path planning on the waybill nodes corresponding to the total waybill set to determine the updated path planning information.

[0006] In some examples, the above-mentioned method uses an adaptive large neighborhood search algorithm to perform path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determines the updated path planning information, including: determining the positive sequence pairs in the unfinished nodes to generate a first set; based on the added virtual nodes, constructing node pairs from the waybill nodes to the virtual nodes corresponding to the waybill to be added to generate a second set; generating a solution set based on the first set and the second set; using an adaptive large neighborhood search algorithm, based on the solution set, to perform path planning on the waybill nodes corresponding to the total waybill set, and determine the updated path planning information.

[0007] In some examples, the above-mentioned adaptive large neighborhood search algorithm is used to perform path planning on the waybill nodes corresponding to the total waybill set based on the solution set, and determine the updated path planning information, including: initializing the optimal path planning solution, the weights corresponding to the destruction methods in the destruction method set, and the weights corresponding to the repair methods in the repair method set, wherein the destruction method is used to destroy part of the planned path in the solution result, and the repair method is used to reconstruct the part of the planned path destroyed by the destruction method; iteratively performing the following planning operations until the preset end condition is reached, and determining the determined optimal path planning solution as the updated path planning information: according to the weights corresponding to the destruction method and the reconstruction method, a target destruction method is selected from the destruction method set, and a target repair method is selected from the repair method set; the path planning solution obtained in the previous planning operation is processed by the target destruction method and the target repair method to obtain the path planning solution corresponding to this planning operation; according to the objective function, the optimal path planning solution corresponding to this planning operation is determined from the optimal path planning solution corresponding to the previous planning operation and the path planning solution corresponding to this planning operation; according to the performance of the target destruction method and the target repair method in this planning operation, the weights corresponding to the target destruction method and the target repair method are adjusted.

[0008] In some examples, the initial path planning information is determined in the following manner: determining the longitude and latitude corresponding to each of the multiple waybills based on the waybill address information of each of the multiple waybills; determining the waybill nodes corresponding to each of the multiple waybills based on the longitude and latitude corresponding to each of the multiple waybills; and performing path planning on the multiple waybill nodes to determine the initial path planning information.

[0009] In some examples, the above-mentioned path planning for multiple waybill nodes and determining initial path planning information includes: performing path planning for multiple waybill nodes according to time windows corresponding to each of the multiple waybills and determining initial path planning information.

[0010] In some examples, the above method also includes: determining the remaining path planning information of the to-be-completed nodes corresponding to the to-be-completed waybills in the updated path planning information; combining the acquired waybills to be supplemented and the to-be-completed waybills to obtain an overall waybill set; performing path planning on the waybill nodes corresponding to the overall waybill set on the basis of maintaining the relative order between the to-be-completed nodes in the remaining path planning information, and determining the adjusted path planning information.

[0011] In the second aspect, an embodiment of the present application provides a path planning device, including: a first determination unit, configured to determine partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of waybills determined in advance; a first obtaining unit, configured to obtain a total waybill set by combining the acquired waybills to be added and the unfinished waybills; a first planning unit, configured to perform path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determine the updated path planning information.

[0012] In some examples, the first planning unit is further configured to: on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, use an adaptive large neighborhood search algorithm to perform path planning on the waybill nodes corresponding to the total waybill set, and determine the updated path planning information.

[0013] In some examples, the first planning unit is further configured to: determine the positive order pairs in the unfinished nodes to generate a first set; based on the added virtual nodes, construct node pairs from the waybill nodes to the virtual nodes corresponding to the waybill to be added to generate a second set; generate a solution set based on the first set and the second set; use an adaptive large neighborhood search algorithm to perform path planning on the waybill nodes corresponding to the total waybill set based on the solution set to determine the updated path planning information.

[0014] In some examples, the first planning unit is further configured to: initialize the optimal path planning solution, the weights corresponding to each destruction method in the destruction method set, and the weights corresponding to each repair method in the repair method set, wherein the destruction method is used to destroy part of the planned path in the solution result, and the repair method is used to reconstruct the part of the planned path destroyed by the destruction method; iteratively perform the following planning operations until the preset end condition is reached, and determine the determined optimal path planning solution as the updated path planning information: according to the weights corresponding to the destruction method and the reconstruction method, select a target destruction method from the destruction method set, and select a target repair method from the repair method set; process the path planning solution obtained in the previous planning operation by the target destruction method and the target repair method to obtain the path planning solution corresponding to this planning operation; according to the objective function, determine the optimal path planning solution corresponding to this planning operation from the optimal path planning solution corresponding to the previous planning operation and the path planning solution corresponding to this planning operation; adjust the weights corresponding to the target destruction method and the target repair method according to their performance in this planning operation.

[0015] In some examples, the above-mentioned device also includes: a second planning unit, configured to: determine the initial path planning information in the following manner: determine the longitude and latitude corresponding to each of the multiple waybills based on the waybill address information of each of the multiple waybills; determine the waybill nodes corresponding to each of the multiple waybills based on the longitude and latitude corresponding to each of the multiple waybills; perform path planning on multiple waybill nodes to determine the initial path planning information.

[0016] In some examples, the second planning unit is further configured to: perform path planning for multiple waybill nodes according to the time windows corresponding to each of the multiple waybills, and determine initial path planning information.

[0017] In some examples, the above-mentioned device also includes: a second determination unit, configured to determine the remaining path planning information of the to-be-completed nodes corresponding to the to-be-completed waybills in the updated path planning information; a second obtaining unit, configured to combine the acquired waybills to be supplemented and the to-be-completed waybills to obtain an overall waybill set; a third planning unit, configured to perform path planning on the waybill nodes corresponding to the overall waybill set on the basis of maintaining the relative order between the to-be-completed nodes in the remaining path planning information, and determine the adjusted path planning information.

[0018] In a third aspect, an embodiment of the present application provides a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation manner of the first aspect is implemented.

[0019] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

[0020] The path planning method and device provided in the embodiments of the present application determine partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of waybills determined in advance; a total waybill set is obtained by combining the acquired waybills to be added and the unfinished waybills; on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, path planning is performed on the waybill nodes corresponding to the total waybill set to determine the updated path planning information, thereby providing a path planning method that, while having the path planning function before collection and dispatch, supports the function of arranging orders for the integrated original unfinished waybills and newly added waybills during collection and dispatch; and the relative order between the original unfinished nodes is kept unchanged, thereby avoiding the collection and dispatch personnel from reorganizing the delivered goods due to the change in the relative order between the nodes, thereby improving the flexibility and efficiency of the collection and dispatch process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0022] Figure 1 is an exemplary system architecture diagram in which an embodiment of the present application may be applied;

[0023] Figure 2 is a flow chart of an embodiment of a path planning method according to the present application;

[0024] Figure 3 is a schematic diagram of an application scenario of the path planning method according to this embodiment;

[0025] Figure 4 is a flow chart of another embodiment of the path planning method according to the present application;

[0026] Figure 5 is a structural diagram of an embodiment of a path planning device according to the present application;

[0027] Figure 6 It is a structural diagram of a computer system suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0028] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security and national security.

[0031] Figure 1 An exemplary architecture 100 to which the path planning method and apparatus of the present application can be applied is shown.

[0032] like Figure 1As shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104 and a server 105. The communication connection between the terminal devices 101, 102, 103 constitutes a topological network, and the network 104 is used to provide a medium for the communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0033] Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to receive or send messages, etc. Terminal devices 101, 102, 103 can be hardware devices or software that support network connection for data interaction and data processing. When terminal devices 101, 102, 103 are hardware, they can be various electronic devices that support network connection, information acquisition, interaction, display, processing and other functions, including but not limited to logistics terminals, smart phones, tablet computers, e-book readers, laptop portable computers and desktop computers, etc. When terminal devices 101, 102, 103 are software, they can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0034] Server 105 may be a server that provides various services, for example, during the delivery process of the delivery personnel, it sends the waybills to be added to the terminal devices 101, 102, and 103, and determines the partial path planning information of the unfinished nodes corresponding to the unfinished waybills in the initial path planning information, and is a background processing server that performs path planning for the unfinished waybills and the waybills to be added on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information. As an example, server 105 may be a cloud server.

[0035] It should be noted that the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules (for example, software or software modules used to provide distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0036] It should also be noted that the path planning method provided in the embodiments of the present application can be executed by a server, or by a terminal device, or by a server and a terminal device in cooperation with each other. Accordingly, the various parts (such as various units) included in the path planning device can be all set in the server, or all set in the terminal device, or can be set in the server and the terminal device respectively.

[0037] It should be understood that Figure 1 The number of terminal devices, networks, and servers in the system is only illustrative. Depending on the implementation requirements, there may be any number of terminal devices, networks, and servers. When the electronic device on which the path planning method is running does not need to transmit data with other electronic devices, the system architecture may only include the electronic device (e.g., server or terminal device) on which the path planning method is running.

[0038] Continue to refer Figure 2 , a process 200 of an embodiment of a path planning method is shown, comprising the following steps:

[0039] Step 201, determining partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information.

[0040] In this embodiment, the execution subject of the path planning method (for example Figure 1 The terminal device or server in the method may determine the partial path planning information of the unfinished nodes corresponding to the unfinished waybills in the initial path planning information. The initial path planning information is determined by path planning based on the waybill nodes corresponding to the predetermined multiple waybills.

[0041] In this embodiment, the predetermined multiple waybills may be waybills pre-assigned to the courier. The above-mentioned execution entity may determine the initial path planning information in the following manner: determine the waybill node corresponding to each waybill in the multiple waybills, thereby performing path planning on the waybill node to obtain the initial path planning information. The above-mentioned execution entity may also determine the initial path planning information in the following manner: determine a waybill sorting strategy suitable for the business scenario through the specific business scenarios corresponding to the multiple waybills; determine the sorting information of the multiple waybills according to the waybill sorting strategy; determine the initial path planning information of the multiple waybill nodes corresponding to the multiple waybills according to the sorting information of the multiple waybills. As an example, the waybill sorting strategy is related to the timeliness, capacity, weight, etc. of the waybill.

[0042] In a specific delivery scenario, before carrying out logistics delivery, the deliveryman needs to plan the routes for the waybill nodes corresponding to the multiple waybills to be delivered, and sort the waybills according to the route planning results; after determining the waybill sorting information, the deliveryman will sort the goods corresponding to the multiple waybills according to the waybill sorting information to determine a reasonable order and position for the goods, so as to facilitate the convenient retrieval of the goods during the subsequent delivery process.

[0043] Among them, the orders assigned to the delivery personnel before the logistics distribution are the multiple predetermined waybills, and the route planning information determined by the delivery personnel before the logistics distribution is the initial route planning information.

[0044] In some actual situations, there are situations where waybills are reassigned to the delivery personnel midway. For example, when the delivery personnel are on the way, the above-mentioned execution subject receives multiple waybills that need to be collected and assigned by the order distribution system; for another example, before the delivery personnel set off, they receive multiple waybills that need to be delivered again, but at this time, the delivery personnel have completed the sorting operation of the goods to be delivered according to the initial route planning information.

[0045] In response to receiving the instruction to reallocate the waybill, the execution subject determines the partial path planning information of the unfinished nodes corresponding to the unfinished waybill in the initial path planning information. During the delivery process, for each waybill, the delivery person generally sends the instruction information of whether the delivery is successful to the execution subject, and the execution subject can determine the unfinished waybill based on the instruction information sent by the delivery person.

[0046] In the case where the courier receives a waybill dispatch instruction during delivery, the unfinished waybill is the waybill that has not been delivered among multiple predetermined waybills; in the case where the courier receives a waybill dispatch instruction before delivery, the unfinished waybill is the multiple predetermined waybills.

[0047] Step 202, combining the acquired waybills to be added and the unfinished waybills, to obtain a total waybill set.

[0048] In this embodiment, the above-mentioned execution entity can combine the acquired waybills to be added and the unfinished waybills to obtain a total waybill set.

[0049] The waybill to be added is the waybill to which the delivery person is reassigned. The above-mentioned execution subject can obtain the waybill to be added remotely or locally through a wired network connection or a wireless network connection, and add the waybill to be added and the unfinished waybill to an order set to obtain a total waybill set.

[0050] Step 203, on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, path planning is performed on the waybill nodes corresponding to the total waybill set to determine the updated path planning information.

[0051] In this embodiment, the above-mentioned execution entity can perform path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determine the updated path planning information.

[0052] The relative order between unfinished nodes includes the relative order between every two unfinished nodes. For example, if the unfinished nodes include node 1, node 2, and node 3, the relative order between the unfinished nodes includes the relative order between node 1 and node 2, the relative order between node 2 and node 3, and the relative order between node 1 and node 3.

[0053] As an example, the execution subject can maintain the relative order between the unfinished nodes in the partial path planning information, and insert the node to be added into the unfinished node sequence represented by the partial path planning information according to the distance between the node to be added and the unfinished node corresponding to the waybill to be added, the driving direction of the partial path planning information, and other information to obtain the total node sequence; and then perform path planning according to the total node sequence to determine the updated path planning information. For example, the unfinished node sequence is {unfinished node 1->unfinished node 2->unfinished node 3}, and the nodes to be added include node 1 to be added and node 2 to be added; it is determined that node 1 to be added is closest to unfinished node 1 and is near the planned section between unfinished node 1 and unfinished node 2; it is determined that node 2 to be added is closest to unfinished node 3 and is near the planned section between unfinished node 2 and unfinished node 3; then the total node sequence is determined to be {unfinished node 1->node to be added 1->unfinished node 2->node to be added 1->unfinished node 3}.

[0054] As another example, the execution subject can perform path planning for multiple nodes to be added, and obtain path planning information to be added corresponding to multiple nodes to be added; then, on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, the path planning information to be added is connected with the partial path planning information, or the path trajectory corresponding to the path planning information to be added is inserted into the path trajectory corresponding to the partial path planning information, to obtain the updated path planning information. For example, the unfinished node sequence corresponding to the partial path planning information is {unfinished node 1->unfinished node 2->unfinished node 3}, and the node sequence to be added corresponding to the path planning information to be added is {node to be added 1->node to be added 2->node to be added 3}, and nodes 1 and 3 to be added are near the planned section between unfinished nodes 1 and 2, then the total node sequence is {unfinished node 1->node to be added 1->node to be added 2->node to be added 3->unfinished node 2->unfinished node 3}.

[0055] In some optional implementations of the present embodiment, the execution entity may perform step 203 in the following manner: on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, an adaptive large neighborhood search algorithm is used to perform path planning on the waybill nodes corresponding to the total waybill set, and the updated path planning information is determined.

[0056] The ALNS (Adaptive Large Neighborhood Search) algorithm includes a cyclic iterative process. Each iteration deletes N nodes from the feasible solution, and then reinserts the deleted points in turn to obtain a new solution, that is, the neighborhood solution of the current solution; by repeating the above iterative process, a solution with the lowest cost, that is, the optimal solution, is obtained as the updated path planning information.

[0057] In this implementation, the condition of maintaining the relative order between the unfinished nodes in the partial path planning information can be added to the mandatory constraint of the adaptive large neighborhood search algorithm. The adaptive large neighborhood search algorithm improves the accuracy and efficiency of the determination process of the updated path planning information.

[0058] In some optional implementations of this embodiment, the above-mentioned execution subject may determine the updated path planning information in the following manner:

[0059] First, determine the positive order pairs in the unfinished nodes and generate the first set.

[0060] The relative order between the two to-be-completed nodes included in the positive sequence pair is consistent with the relative order between the two to-be-completed nodes in the partial path planning information. For example, the unfinished node sequence corresponding to the unfinished node is {unfinished node 1 -> unfinished node 2 -> unfinished node 3}, then the positive sequence pair includes (unfinished node 1, unfinished node 2), (unfinished node 2, unfinished node 3) and (unfinished node 1, unfinished node 3).

[0061] Specifically, the unfinished node set can be expressed as follows:

[0062] D={n i |i∈[0,k]}

[0063] Where D represents the unfinished node set, n i represents an unfinished node, and k represents the number of unfinished nodes.

[0064] Based on the above unfinished node set D, the first set can be expressed as:

[0065] N1={(p i ,d j )|p i ∈D,d j ∈D,i <j}

[0066] Among them, N1 represents the first set, (p i ,d j ) represents two unfinished nodes p i d j The positive sequence pair of .

[0067] It can be seen that the number of elements (positive pairs) in the first set is:

[0068]

[0069] Second, based on the added virtual node, a node pair from the waybill node to the virtual node corresponding to the waybill to be added is constructed to generate a second set.

[0070] In this implementation, based on the waybill node corresponding to the waybill to be added, a virtual node is added, and a node pair from the waybill node corresponding to the waybill to be added to the virtual node is constructed to generate a second set.

[0071] Specifically, the set of waybill nodes corresponding to the waybill to be added is expressed as:

[0072] P = {e t |t∈[0,m]}

[0073] Where P represents the set of waybill nodes corresponding to the waybill to be added, e t Indicates the waybill node corresponding to the waybill to be added, and m indicates the number of nodes.

[0074] Based on the above set P, the second set is expressed as:

[0075] N2={(e t ,f)|e t ∈P}

[0076] Where N2 represents the second set, f represents a virtual node, (e t ,f) represents the waybill node e corresponding to the waybill to be added t A node pair from t to virtual node f.

[0077] Third, a solution set is generated according to the first set and the second set.

[0078] As an example, the execution subject may combine the first set and the second set to generate a solution set. Specifically, the solution set is calculated by the following formula:

[0079] N=N1∪N2

[0080] Fourth, an adaptive large neighborhood search algorithm is used to perform path planning on the waybill nodes corresponding to the total waybill set based on the solution set to determine the updated path planning information.

[0081] In the solution set, a mandatory constraint is added to maintain the relative order between the unfinished nodes in the partial path planning information.

[0082] In this implementation, a specific implementation method for determining updated path planning information is provided, which further improves the accuracy and efficiency of the information determination process.

[0083] In some optional implementations of this embodiment, the execution subject may perform the fourth step in the following manner:

[0084] First, the optimal path planning solution, the weights corresponding to the destruction methods in the destruction method set, and the weights corresponding to the repair methods in the repair method set are initialized. The destruction method is used to destroy part of the planned path in the solution result, and the repair method is used to reconstruct the part of the planned path destroyed by the destruction method.

[0085] Secondly, the following planning operations are iteratively performed until the preset end condition is reached, and the determined optimal path planning solution is determined as the updated path planning information:

[0086] (1) According to the weights corresponding to the destruction method and the reconstruction method, a target destruction method is selected from the destruction method set, and a target repair method is selected from the repair method set; (2) The path planning solution obtained in the previous planning operation is processed by the target destruction method and the target repair method to obtain the path planning solution corresponding to the current planning operation; (3) According to the objective function, the optimal path planning solution corresponding to the current planning operation is determined from the optimal path planning solution corresponding to the previous planning operation and the path planning solution corresponding to the current planning operation; (4) According to the performance of the target destruction method and the target repair method in the current planning operation, the weights corresponding to the target destruction method and the target repair method are adjusted.

[0087] As an example, the processing logic of the above determination process is as follows:

[0088]

[0089] In line 4, the algorithm uses the destroy method and the repair method to obtain a temporary solution x. t In line 5, the temporary solution x is evaluated. t The quality of the temporary solution x t Should it become the new solution x for the current planning operation? Line 9 is used to indicate whether x t The objective function value c(x t ) is less than x b The objective function value c(x b ).

[0090] Specifically, the weights corresponding to the target destruction method and the target repair method are adjusted in the following way:

[0091] 1. Evaluate each set of destroy and repair methods using the following function:

[0092]

[0093] Among them, ω1>ω2>ω3>ω4 are custom parameters.

[0094] 2. Update the weights using the following formula:

[0095]

[0096]

[0097] in, represents the weight of the target destruction method, Represents the weight of the target restoration method, λ∈[0,1], which is a preset parameter.

[0098] Continue to see Figure 3 , Figure 3 FIG. 3 is a schematic diagram 300 of an application scenario of the path planning method according to this embodiment. Figure 3 In the application scenario, before the logistics distribution, the delivery clerk 301 plans the path for the waybill nodes (including nodes A, B, C, D, and E) corresponding to the multiple waybills to be delivered through the terminal device 302, and determines the initial path planning information 303; after determining the initial path planning information, the delivery clerk 301 sorts the goods corresponding to the multiple waybills according to the waybill sorting information to determine a reasonable order and position of the goods, so as to facilitate the convenient collection of the goods in the subsequent delivery process.

[0099] During the delivery process, the server 304 sends multiple collection waybills (waybills to be added, corresponding to nodes X, Y, and Z) to the terminal device 302 again, and determines the partial path planning information 305 of the unfinished nodes (including nodes C, D, and E) corresponding to the unfinished waybills in the initial path planning information; combines the acquired waybills to be added and the unfinished waybills to obtain the total waybill set; on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, performs path planning on the waybill nodes corresponding to the total waybill set, and determines the updated path planning information 306.

[0100] The method provided by the above-mentioned embodiment of the present application determines partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of waybills determined in advance; a total waybill set is obtained by combining the acquired waybills to be added and the unfinished waybills; on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, path planning is performed on the waybill nodes corresponding to the total waybill set to determine the updated path planning information, thereby providing a path planning method, which, while having the path planning function before collection and dispatch, supports the function of arranging orders for the integrated original unfinished waybills and newly added waybills during collection and dispatch; and the relative order between the original unfinished nodes is kept unchanged, so as to avoid the collection and dispatch personnel from reorganizing the delivered goods due to the change in the relative order between the nodes, thereby improving the flexibility and efficiency of the collection and dispatch process.

[0101] In some optional implementations of this embodiment, the execution subject may determine the initial path planning information in the following manner:

[0102] First, according to the waybill address information of each of the multiple waybills, the longitude and latitude corresponding to each of the multiple waybills are determined.

[0103] In this implementation, the above-mentioned execution entity can first process the original waybill information, mainly including the processing of missing waybill information and abnormality judgment. The processing of missing waybill information is mainly carried out by calling a third-party map service to parse the longitude and latitude corresponding to the waybill in plain text according to the original address.

[0104] Second, the waybill nodes corresponding to the multiple waybills are determined according to the longitudes and latitudes corresponding to the multiple waybills.

[0105] The waybill node represents the AOI (Area Of Interest) where the waybill is picked up and dispatched, which can be the delivery point, automatic storage cabinet, etc. corresponding to the waybill. As an example, for each waybill in multiple waybills, the execution entity can match the longitude and latitude corresponding to the waybill with the nodes in the node set, thereby determining the matched node as the waybill node of the waybill.

[0106] Third, perform path planning for multiple waybill nodes and determine the initial path planning information.

[0107] In this implementation, the above-mentioned execution entity can use various path planning methods to determine the initial path planning information, including but not limited to the A algorithm, Dijkstra algorithm, D algorithm, artificial potential field method in traditional path planning algorithms, PRM (Probabilistic Road Map) algorithm, RRT (Exploring Random Trees) algorithm in sampling-based path planning algorithms, neural network algorithm, ant colony algorithm, genetic algorithm, etc. in intelligent bionic path planning algorithms.

[0108] In some optional implementations of the present embodiment, the execution entity may perform the third step as follows: perform path planning for multiple waybill nodes according to the time windows corresponding to each of the multiple waybills, and determine initial path planning information.

[0109] During the actual delivery process, waybills at the same waybill node may have different expected door-to-door delivery times. Therefore, when aggregating waybills, the spatial address and time window information should be considered at the same time, and waybills with relatively close spatial nodes and delivery time windows should be aggregated to improve the rationality of the path planning process.

[0110] During the delivery process, the delivery person may be assigned multiple waybills. In order to further improve the flexibility and efficiency of the delivery person's delivery process, in some optional implementations of this embodiment, the above-mentioned execution subject may also perform the following operations:

[0111] First, determine the remaining path planning information of the to-be-completed nodes corresponding to the to-be-completed waybills in the updated path planning information.

[0112] Among them, the pending waybill is the waybill that has not been collected and delivered when the user receives the new waybill for the second time.

[0113] Second, the acquired waybills to be supplemented and waybills to be completed are combined to obtain the overall waybill set.

[0114] Among them, the waybill to be supplemented is the newly added waybill received by the user for the second time.

[0115] Third, on the basis of maintaining the relative order between the to-be-completed nodes in the remaining path planning information, path planning is performed on the waybill nodes corresponding to the entire waybill set to determine the adjusted path planning information.

[0116] In this implementation, the above steps can be performed with reference to the above steps 201-203, which will not be described in detail here. It should be noted that this embodiment does not limit the number of route planning. Based on actual needs, the above execution entity can perform multiple route planning based on the received waybill.

[0117] Continue to refer Figure 4 , shows a schematic process 400 of an embodiment of a path planning method according to the present application, comprising the following steps:

[0118] Step 401, determining partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information.

[0119] The initial route planning information is determined by performing route planning based on waybill nodes corresponding to a plurality of predetermined waybills.

[0120] Step 402, combining the acquired waybills to be added and the unfinished waybills, to obtain a total waybill set.

[0121] Step 403: determine the positive sequence pairs in the unfinished nodes and generate a first set.

[0122] Step 404: Based on the added virtual node, a node pair from the waybill node to the virtual node corresponding to the waybill to be added is constructed to generate a second set.

[0123] Step 405: Generate a solution set based on the first set and the second set.

[0124] Step 406, using an adaptive large neighborhood search algorithm, based on the solution set, path planning is performed on the waybill nodes corresponding to the total waybill set to determine the updated path planning information.

[0125] Step 407, determining the remaining path planning information of the to-be-completed nodes corresponding to the to-be-completed waybills in the updated path planning information.

[0126] Step 408, combining the acquired waybills to be supplemented and waybills to be completed to obtain a complete waybill set.

[0127] Step 409, on the basis of maintaining the relative order between the to-be-completed nodes in the remaining path planning information, path planning is performed on the waybill nodes corresponding to the entire waybill set to determine the adjusted path planning information.

[0128] It can be seen from this embodiment that Figure 2 Compared with the corresponding embodiment, the process 400 of the path planning method in this embodiment specifically illustrates the process of determining the updated path planning information and the process of performing path planning for the newly added waybill, further improving the flexibility and efficiency of the collection and dispatch process.

[0129] Continue to refer Figure 5 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a path planning device, which is similar to Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0130] like Figure 5 As shown, the path planning device includes: a first determination unit 501, configured to determine partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of waybills determined in advance; a first obtaining unit 502, configured to obtain a total waybill set by combining the acquired waybills to be added and the unfinished waybills; a first planning unit 503, configured to perform path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determine the updated path planning information.

[0131] In some optional implementations of this embodiment, the above-mentioned first planning unit 503 is further configured to: on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, adopt an adaptive large neighborhood search algorithm to perform path planning on the waybill nodes corresponding to the total waybill set, and determine the updated path planning information.

[0132] In some optional implementations of the present embodiment, the above-mentioned first planning unit 503 is further configured to: determine the positive sequence pairs in the unfinished nodes to generate a first set; based on the added virtual nodes, construct a node pair from the waybill node to the virtual node corresponding to the waybill to be added to generate a second set; generate a solution set based on the first set and the second set; use an adaptive large neighborhood search algorithm to perform path planning on the waybill nodes corresponding to the total waybill set based on the solution set, and determine the updated path planning information.

[0133] In some optional implementations of the present embodiment, the first planning unit 503 is further configured to: initialize the optimal path planning solution, the weights corresponding to the destruction methods in the destruction method set, and the weights corresponding to the repair methods in the repair method set, wherein the destruction method is used to destroy part of the planned path in the solution result, and the repair method is used to reconstruct the part of the planned path destroyed by the destruction method; iteratively perform the following planning operations until the preset end condition is reached, and determine the determined optimal path planning solution as the updated path planning information: select a target destruction method from the destruction method set and a target repair method from the repair method set according to the weights corresponding to the destruction method and the reconstruction method; process the path planning solution obtained in the previous planning operation by the target destruction method and the target repair method to obtain the path planning solution corresponding to this planning operation; determine the optimal path planning solution corresponding to this planning operation from the optimal path planning solution corresponding to the previous planning operation and the path planning solution corresponding to this planning operation according to the objective function; adjust the weights corresponding to the target destruction method and the target repair method according to their performance in this planning operation.

[0134] In some optional implementations of the present embodiment, the above-mentioned device also includes: a second planning unit (not shown in the figure), which is configured to: determine the initial path planning information in the following manner: determine the longitude and latitude corresponding to each of the multiple waybills based on the waybill address information of each of the multiple waybills; determine the waybill nodes corresponding to each of the multiple waybills based on the longitude and latitude corresponding to each of the multiple waybills; perform path planning on multiple waybill nodes to determine the initial path planning information.

[0135] In some optional implementations of the present embodiment, the above-mentioned second planning unit (not shown in the figure) is further configured to: perform path planning for multiple waybill nodes according to the time windows corresponding to each of the multiple waybills, and determine the initial path planning information.

[0136] In some optional implementations of the present embodiment, the above-mentioned device also includes: a second determination unit (not shown in the figure), configured to determine the remaining path planning information of the to-be-completed nodes corresponding to the to-be-completed waybills in the updated path planning information; a second obtaining unit (not shown in the figure), configured to combine the acquired waybills to be supplemented and the to-be-completed waybills to obtain an overall waybill set; a third planning unit (not shown in the figure), configured to perform path planning on the waybill nodes corresponding to the overall waybill set on the basis of maintaining the relative order between the to-be-completed nodes in the remaining path planning information, and determine the adjusted path planning information.

[0137] In this embodiment, the first determination unit in the path planning device determines partial path planning information of the unfinished nodes corresponding to the unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on the waybill nodes corresponding to a plurality of waybills determined in advance; the first obtaining unit obtains a total waybill set in combination with the acquired waybills to be added and the unfinished waybills; the first planning unit performs path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determines the updated path planning information, thereby providing a path planning device that, while having the path planning function before collection and dispatch, supports the function of arranging orders for the integrated original unfinished waybills and newly added waybills during collection and dispatch; and the relative order between the original unfinished nodes is kept unchanged, so as to avoid the collection and dispatch personnel from reorganizing the delivered goods due to the change in the relative order between the nodes, thereby improving the flexibility and efficiency of the collection and dispatch process.

[0138] Reference below Figure 6 , which shows a device suitable for implementing the embodiments of the present application (eg Figure 1 Schematic diagram of the structure of a computer system 600 of the devices 101, 102, 103, 105 shown. Figure 6 The device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0139] like Figure 6 As shown, the computer system 600 includes a processor (e.g., CPU, central processing unit) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. Various programs and data required for the operation of the system 600 are also stored in the RAM 603. The processor 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0140] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage section 608 as needed.

[0141] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 609, and / or installed from a removable medium 611. When the computer program is executed by the processor 601, the above-mentioned functions defined in the method of the present application are executed.

[0142] It should be noted that the computer-readable medium of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0143] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the client computer, partially on the client computer, as a separate software package, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the client computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0144] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0145] The units involved in the embodiments described in the present application may be implemented by software or by hardware. The described units may also be set in a processor, for example, may be described as: a processor comprising a first determination unit, a first obtaining unit and a first planning unit. Among them, the names of these units do not constitute a limitation on the unit itself under certain circumstances. For example, the first planning unit may also be described as "a unit that performs path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determines the updated path planning information".

[0146] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the device, the computer device: determines the partial path planning information of the unfinished nodes corresponding to the unfinished waybill in the initial path planning information, wherein the initial path planning information is determined by path planning based on the waybill nodes corresponding to the predetermined multiple waybills; combines the acquired waybill to be added and the unfinished waybill to obtain a total waybill set; on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, performs path planning on the waybill nodes corresponding to the total waybill set to determine the updated path planning information.

[0147] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A path planning method, comprising: Determine partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of predetermined waybills; Combining the acquired waybills to be added and the unfinished waybills to obtain a total waybill set; On the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, path planning is performed on the waybill nodes corresponding to the total waybill set to determine the updated path planning information.

2. The method according to claim 1, wherein: The performing path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information to determine the updated path planning information includes: On the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, an adaptive large neighborhood search algorithm is used to perform path planning on the waybill nodes corresponding to the total waybill set to determine the updated path planning information.

3. The method according to claim 2, wherein: The method of performing path planning on the waybill nodes corresponding to the total waybill set by using an adaptive large neighborhood search algorithm while maintaining the relative order between the unfinished nodes in the partial path planning information to determine the updated path planning information includes: Determine the positive sequence pairs in the unfinished nodes to generate a first set; Based on the added virtual node, construct a node pair from the waybill node corresponding to the waybill to be added to the virtual node to generate a second set; Generate a solution set according to the first set and the second set; An adaptive large neighborhood search algorithm is used to perform path planning on the waybill nodes corresponding to the total waybill set based on the solution set to determine the updated path planning information.

4. The method according to claim 3, wherein: The adopting of the adaptive large neighborhood search algorithm, based on the solution set, performing path planning on the waybill nodes corresponding to the total waybill set, and determining the updated path planning information includes: Initialize the optimal path planning solution, the weights corresponding to the destruction methods in the destruction method set, and the weights corresponding to the repair methods in the repair method set, wherein the destruction method is used to destroy part of the planned path in the solution result, and the repair method is used to reconstruct the part of the planned path destroyed by the destruction method; Iteratively perform the following planning operations until a preset end condition is reached, and determine the determined optimal path planning solution as the updated path planning information: According to the weights corresponding to the destruction method and the reconstruction method, a target destruction method is selected from the destruction method set, and a target repair method is selected from the repair method set; The path planning solution obtained in the previous planning operation is processed by the target destruction method and the target repair method to obtain the path planning solution corresponding to the current planning operation; According to the objective function, the optimal path planning solution corresponding to the current planning operation is determined from the optimal path planning solution corresponding to the previous planning operation and the path planning solution corresponding to the current planning operation; According to the performance of the target destruction method and the target repair method in this planning operation, the weights corresponding to the target destruction method and the target repair method are adjusted respectively.

5. The method according to claim 1, wherein: The initial path planning information is determined in the following manner: Determining the longitude and latitude corresponding to each of the multiple waybills according to the waybill address information of each of the multiple waybills; Determine the waybill nodes corresponding to each of the multiple waybills according to the longitudes and latitudes corresponding to each of the multiple waybills; Path planning is performed on multiple waybill nodes to determine the initial path planning information.

6. The method according to claim 5, wherein: The performing path planning for the multiple waybill nodes and determining the initial path planning information includes: According to the time windows corresponding to the multiple waybills, paths are planned for the multiple waybill nodes to determine the initial path planning information.

7. The method according to any one of claims 1 to 6, wherein: Also includes: Determine the remaining path planning information of the to-be-completed nodes corresponding to the to-be-completed waybills in the updated path planning information; Combining the acquired waybills to be supplemented and the waybills to be completed to obtain a whole waybill set; On the basis of maintaining the relative order between the to-be-completed nodes in the remaining path planning information, path planning is performed on the waybill nodes corresponding to the entire waybill set to determine the adjusted path planning information.

8. A path planning device, comprising: A first determining unit is configured to determine partial path planning information of unfinished nodes corresponding to unfinished waybills in the initial path planning information, wherein the initial path planning information is determined by path planning based on waybill nodes corresponding to a plurality of predetermined waybills; A first obtaining unit is configured to combine the obtained waybills to be added and the unfinished waybills to obtain a total waybill set; The first planning unit is configured to perform path planning on the waybill nodes corresponding to the total waybill set on the basis of maintaining the relative order between the unfinished nodes in the partial path planning information, and determine the updated path planning information.

9. A computer readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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