A method for generating a UAV logistics transportation route, an electronic device and a storage medium

Abstract

The present invention provides a method for generating a UAV logistics transportation route, an electronic device and a storage medium, and relates to the field of generating a UAV logistics transportation route. The method comprises: determining a target UAV take-off point W according to a package departure point 1 And determine the drone landing point W according to the package delivery point 2 ; W 1 and W 2 Connect to get W 1 and W 2 corresponding straight line; obtaining the first distance from each preset location to the corresponding midpoint within the preset range corresponding to each midpoint to obtain a first distance list set LA; determining the target distance corresponding to each first distance list to obtain a target distance list LB; LB i The corresponding preset location is determined as the flight waypoint corresponding to the logistics transportation route; according to W 1 , W 2 With each flight waypoint, an initialized UAV logistics transportation route is generated; the present invention provides a logistics transportation route for UAVs used for logistics transportation operations, thereby improving transportation efficiency and shortening transportation time.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle logistics transportation route generation, and in particular to a method for generating a unmanned aerial vehicle logistics transportation route, an electronic device and a storage medium. Background Art

[0002] In recent years, with the rapid development of drone technology, drones have been widely used in all walks of life. And with the development of the logistics and transportation industry, drones are playing an increasingly important role in the logistics and transportation industry. In short- and medium-distance logistics transportation, especially in complex ground transportation environments, drones can replace traditional ground transportation and improve logistics and transportation efficiency; in long-distance logistics transportation, drones can replace manned aircraft transportation and reduce logistics and transportation costs.

[0003] Existing drone path planning technology usually uses visual sensors to make real-time adjustments during the flight of the drone. For drones used in the logistics industry, there are usually relatively clear starting and ending points before the flight. In addition, with the development of drone technology and the logistics and transportation industry, more and more drones will be put into the logistics industry. During the use of drones, relying solely on existing technology to make real-time adjustments to logistics and transportation routes will no longer meet the needs of drones, and may cause installation hazards such as collisions between drones and mutual interference between drones during use. Furthermore, the cost of drones using visual sensors is relatively high, and it is not suitable for large investments in the logistics industry.

[0004] Based on this, how to provide a highly safe technical solution for generating flight paths for logistics drones has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the above technical problems, the technical solution adopted by the present invention is:

[0006] According to a first aspect of the present application, a method for generating a UAV logistics transportation route is provided, the method comprising the following steps:

[0007] S100, obtaining a drone logistics transport request QT sent by a user; wherein QT includes a package departure point, a package delivery point, and package information;

[0008] S200, determine the target drone take-off point W according to the package departure point 1 And determine the drone landing point W according to the package delivery point 2 ; Wherein, the target drone is used to transport packages; the target drone is determined based on the package information and the package departure point;

[0009] S300, W 1 and W 2Connect to get W 1 and W 2 The corresponding straight line ZX; wherein ZX includes n middle points, and the distance between two adjacent middle points is equal;

[0010] S400, obtaining a first distance between each preset location and the corresponding midpoint within a preset range corresponding to each midpoint, so as to obtain a first distance list set LA=(LA 1 , L.A. 2 , …, LA i , …, LA n ), i=1, 2,...,n; where, LA i is the first distance list corresponding to the i-th intermediate point; LA i =(LA i，1 , L.A. i，2 , …, LA i，j , …, LA i，f(i) ), j=1,2,…,f(i); LA i，j is the first distance between the jth preset location within the preset range corresponding to the i-th middle point and the i-th middle point, and f(i) is the number of preset locations within the preset range corresponding to the i-th middle point;

[0011] S500, according to LA, determine the target distance corresponding to each first distance list to obtain a target distance list LB=(LB 1 , L.B. 2 , …, LB i , …, LB n ), where LB i For LA i Corresponding target distance; LB i =MIN(LA i );MIN() is the minimum value function;

[0012] S600, LB i The corresponding preset location is determined as the flight waypoint corresponding to the logistics transportation route;

[0013] S700, according to W 1 , W 2 And for each flight waypoint, generate the initialized drone logistics transportation route corresponding to QT.

[0014] According to another aspect of the present application, a non-transitory computer-readable storage medium is also provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned drone logistics transportation route generation method.

[0015] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0016] The present invention has at least the following beneficial effects:

[0017] The method for generating a drone logistics transportation route of the present invention obtains a drone logistics transportation request QT sent by a user; determines a target drone take-off point W according to a package departure point 1 And determine the drone landing point W according to the package delivery point 2 ; W 1 and W 2 Connect to get W 1 and W 2 corresponding straight line ZX; obtaining the first distance from each preset location to the corresponding midpoint within the preset range corresponding to each midpoint to obtain a first distance list set LA; according to LA, determining the target distance corresponding to each first distance list to obtain a target distance list LB; LB i The corresponding preset location is determined as the flight waypoint corresponding to the logistics transportation route; according to W 1 , W 2 And for each flight waypoint, an initialized UAV logistics transportation route corresponding to QT is generated; a logistics transportation route is provided for the UAV used for logistics transportation operations.

[0018] Furthermore, the generated initialized drone logistics transportation route combines the package departure point, package delivery point and flight waypoints, which greatly improves the logistics transportation efficiency and shortens the logistics transportation time while ensuring the safety of the drone and the package during the flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0020] Figure 1 A flowchart of a method for generating a UAV logistics transport route provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] It should be noted that, based on the present disclosure, those skilled in the art should understand that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement a device and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0023] The following will refer to Figure 1 The flowchart of the method for generating a UAV logistics transportation route is shown, which introduces a method for generating a UAV logistics transportation route.

[0024] The method for generating a UAV logistics transportation route may include the following steps:

[0025] S100, obtaining a drone logistics transportation request QT sent by a user; wherein QT includes a package departure point, a package delivery point, and package information.

[0026] In this embodiment, QT is used to instruct the server to perform corresponding drone logistics transportation route planning. QT at least includes: freight departure point and package delivery point.

[0027] In addition to the above-mentioned package departure point and package delivery point, the above-mentioned drone logistics transportation request may also include: drone identity. That is, the user can specify the drone used for this logistics transportation through the user terminal. At this time, the server can determine the drone corresponding to the drone identity through the drone logistics transportation request as the drone designated by the user for this logistics transportation operation.

[0028] It should be noted that a drone logistics transportation request may include at least one drone identity, that is, the drone logistics transportation request may correspond to at least one drone.

[0029] In addition, in the embodiment of the present application, the server can also determine whether the drone corresponding to the drone identity identifier meets the relevant requirements. For example, the drone identity identifier in the drone logistics transportation request corresponds to drone A. The server can determine whether drone A has the logistics transportation qualification based on the pre-stored relevant information of drone A. If drone A has the logistics transportation qualification, the server determines that drone A will perform this logistics transportation task; if drone A does not have the logistics transportation qualification, the server determines that drone A cannot perform this logistics transportation operation, and the server can assign a drone with logistics transportation qualification to it based on the drone logistics transportation request.

[0030] Furthermore, in actual use, the user may not specify a drone for logistics transportation operations, that is, there is no drone identity in the drone logistics transportation request. In this case, the server can allocate a drone for this logistics transportation operation according to the drone logistics transportation request.

[0031] S200, determine the target drone take-off point W according to the package departure point 1 And determine the drone landing point W according to the package delivery point 2 ; Among them, the target drone is used to transport packages; the target drone is determined based on the package information and the package departure point.

[0032] Furthermore, the target drone can be determined by the following steps:

[0033] S210, obtaining the distance between each pending drone and the package departure point to obtain a distance list D = (D 1 , D 2 , …, D j , …, D m ), j = 1, 2, ... m; where the pending drone is a drone whose current working state is idle; D j is the distance between the jth undetermined drone and the package departure point, and m is the number of undetermined drones; D r <D r+1 ; r=1,2,…,m-1.

[0034] In this embodiment, the current working state of the drone may include an idle state, a working state, and a reservation state. The working state may mean that the drone is in a flying state and is working. The reservation state may mean that the drone has been reserved but has not been used. The idle state may mean that the drone is neither flying nor reserved and can be used.

[0035] S220, determining the target UAV according to D and the performance of each pending UAV.

[0036] Further, the package information includes: package weight ZL; step S220 may include the following steps:

[0037] S221, obtain the maximum load capacity of each undetermined UAV to obtain a list of the maximum load capacity of undetermined UAVs A=(A 1 , A 2 , …, A j , …, A m ), where A j is the maximum load capacity corresponding to the jth undetermined UAV.

[0038] S222, if A r =A r+1 , then determine the number of target drones in, is the ceiling function.

[0039] S223, if the maximum loads in A are not completely the same, sort the maximum loads in A from large to small to obtain a sorted maximum load list A'=(A' 1 , A' 2 , …, A' j , …, A' m ), where A' j is the maximum load capacity corresponding to the jth undetermined UAV obtained after sorting A.

[0040] S224, according to D and A', determine the sorted distance list D' corresponding to A' = (D' 1 , D' 2 , …, D' j , …, D' m ), where D' j A' j The distance between the corresponding pending drone and the package departure point.

[0041] S225, traverse D', if D' j <DT, then A' j The corresponding undetermined UAV is determined as the target UAV to obtain NUM target UAVs; wherein NUM satisfies the following relationship: ∑ q NUM WR q >ZL;WR q is the qth target UAV determined; q = 1, 2, ..., NUM.

[0042] In this embodiment, the maximum load capacity of the drones may be the same or different; for example, if the package being transported is rice, the weight of the rice is 21kg, and the maximum load capacity of each drone is 3kg, then 7 drones are required for this logistics transportation; for another example, the maximum load capacity of drone A is 3kg and the maximum load capacity of drone B is 4kg, then the above method can be used to determine the number of target drones.

[0043] In addition, since drones require corresponding power sources, in order to better realize drone allocation, combined with the above-mentioned solution, the server can also allocate drones as the drones for this logistics transportation based on the transportation distance of this logistics transportation operation, drone flight performance information and package information; the flight performance information may include the drone's current flight range and maximum load.

[0044] For example, in the above logistics transportation operation that requires 3 drones to transport 6 kilograms of rice, the distance between the package departure point and the package delivery point is 28 kilometers. There are four drones a, b, c, and d. Drone a currently has a flight range of 30 kilometers, a maximum load of 3kg, and a current working status of being booked; drone b currently has a flight range of 20 kilometers, a maximum load of 2kg, and a current status of being idle; drone c currently has a flight range of 22 kilometers, a maximum load of 3kg, and a current working status of being in operation; drone d currently has a flight range of 30 kilometers, a maximum load of 3kg, and a current working status of being idle. The server can determine based on the status information of drones a, b, c, and d that drones b and d in an idle state can both be used for this logistics transportation operation. On this basis, the server determines the distance between drone b and drone d and the package departure point. For example, drone b is 2.5 kilometers away from the package departure point, and drone d is 5 kilometers away from the package departure point. At this time, the server determines that drone b is used for this logistics transportation operation.

[0045] It should be noted that the above-mentioned user terminal may be a mobile terminal such as a mobile phone, a tablet computer, or other terminal equipment.

[0046] In some embodiments of the present application, the user terminal may install corresponding application software (Application, APP), and transmit data with the server through the installed APP to send the drone logistics transportation request to the server. The user may input the drone logistics transportation request through the APP of the user terminal by voice input or image recognition input.

[0047] The above-mentioned target drone is the drone that performs work in this logistics transportation operation.

[0048] Furthermore, W 1 and W 2This can be determined by the following steps:

[0049] S230, matching the package departure point and the package delivery point with a pre-stored set of drone take-off and landing sites.

[0050] The above-mentioned drone landing site set refers to a set of location information of all drone landing sites within a preset range. For example, if there are drone landing sites 1, 2, 3, and 4 within the preset range, the location information of the drone landing sites is composed of the location information of drone landing sites 1, 2, 3, and 4.

[0051] Specifically, the location information of the package departure point and the location information of the package delivery point can be obtained in advance. According to the location information of the package departure point, it is determined whether there is a matching drone take-off and landing site in the drone take-off and landing site set. If so, it means that the package departure point matches the drone take-off and landing site set, otherwise, it means that there is no match. According to the location information of the package delivery point, it is determined whether there is a matching drone take-off and landing site in the drone take-off and landing site set. If so, it means that the package delivery point matches the drone take-off and landing site set, otherwise, it means that there is no match.

[0052] It should be noted that the location information of the drone landing site in the above drone landing site set matches the location information of the package departure point, that is, the package departure point is the drone landing site. Similarly, the package delivery point is the same as the package departure point.

[0053] S240, when the location information of the package departure point and the package delivery point matches the location information set of the drone take-off and landing field, the drone take-off and landing field corresponding to the package departure point is used as the drone take-off point, and the drone take-off and landing field corresponding to the package delivery point is used as the drone landing point.

[0054] S250, when the location information of the package departure point and the package delivery point does not match the set of drone take-off and landing sites, select a corresponding drone take-off and landing site according to a preset rule.

[0055] For example, users are usually accustomed to filling in the delivery address as the user's detailed home address, but in the logistics transportation process, the package is usually first delivered to the parcel warehouse or Cainiao Station in the city where the user's home address is located. At this time, the delivery point of the package and the landing point of the drone are different locations. In other words, the location information of the package delivery point does not match the set of drone take-off and landing sites.

[0056] In this embodiment, after the server receives the drone logistics transportation request sent by the user terminal, it first matches the location information of the package departure point with the drone take-off and landing field set pre-stored in the server. When the location information of the package departure point matches the drone take-off and landing field set pre-stored in the server, the server determines that the package departure point is the same as the drone take-off and landing field in the drone take-off and landing field set. Otherwise, the server determines that the package departure point is different from the drone take-off and landing field in the drone take-off and landing field. For the package delivery point and the drone landing point, the server can refer to the method for determining whether the package delivery point and the drone landing point are the same point, which will not be repeated here.

[0057] When the server determines that the package departure point matches a drone landing site in the drone landing site set, the drone landing site is used as W 1 and the starting point of the initial logistics transportation route. When the server determines that the package delivery point matches the drone landing site, the drone landing site is used as W 2 And initialize the end point of the logistics transportation route.

[0058] Further, step S250 may include the following steps:

[0059] S251, obtaining the load of each drone landing and take-off field in the drone landing and take-off field set corresponding to the package departure point.

[0060] S252, determining the drone take-off and landing field with a load less than a preset load threshold as the pending drone take-off point.

[0061] S253, determining the undetermined drone take-off point that is the shortest distance from the package departure point as the drone take-off point.

[0062] S254, obtaining the load of each drone landing and take-off site in the drone landing and take-off site set corresponding to the package delivery point.

[0063] S255, determining the drone take-off and landing site with a load less than a preset load threshold as the pending drone delivery point.

[0064] S256, determining the pending drone delivery point with the shortest distance from the package delivery point as the drone delivery point.

[0065] In this embodiment, when the departure point of the package is different from the drone landing site, the server obtains the load value of each drone landing site in the drone landing site set. When the load status meets the preset conditions, the drone landing site is selected as the pending drone take-off point. The server calculates the distance between each pending drone take-off point and the departure point of the package, and uses the pending drone take-off point with the smallest distance as the drone take-off point for this logistics transportation operation.

[0066] S300, W 1 and W 2 Connect to get W 1 and W 2 The corresponding straight line ZX; wherein ZX includes n middle points, and the distance between two adjacent middle points is equal.

[0067] In this embodiment, n can be calculated based on W 1 and W 2 The distance between them is determined, and the middle points are evenly set on ZX.

[0068] S400, obtaining a first distance between each preset location and the corresponding midpoint within a preset range corresponding to each midpoint, so as to obtain a first distance list set LA=(LA 1 , L.A. 2 , …, LA i , …, LA n ), i=1, 2,...,n; where, LA i is the first distance list corresponding to the i-th intermediate point; LA i =(LA i，1 , L.A. i，2 , …, LA i，j , …, LA i，f(i) ), j=1,2,…,f(i); LA i，j is the first distance between the jth preset location within the preset range corresponding to the i-th middle point and the i-th middle point, and f(i) is the number of preset locations within the preset range corresponding to the i-th middle point.

[0069] In this embodiment, the preset location is a flight waypoint, and the preset range can be a circular area or a rectangular area with the middle point as the center point. There will be several preset locations within the preset range corresponding to the middle point.

[0070] Since there is no pilot to adjust the aircraft status in real time during the flight of the drone, some flight support information is needed to ensure the flight safety of the drone. In an embodiment of the present application, the drone flight support information is used to indicate the flight support requirements during the flight of the drone. The flight support requirements may include at least one of the following: ensuring communication with at least one ground station and / or navigation station during the flight of the drone; ensuring at least one alternate landing field during the flight of the drone. Therefore, the flight waypoint can be at least any one of the following: a navigation station, a ground station, and an alternate landing field.

[0071] In the process of UAV logistics transportation, in order to ensure real-time control of the UAV, the UAV needs to communicate with the corresponding navigation station and / or ground station during the flight. At the same time, due to the many unexpected situations that may occur during the flight, it is necessary to select a suitable alternate landing field for the UAV. The alternate landing field is used to provide the UAV with at least one temporary take-off and landing point, that is, a flight waypoint, when the UAV needs to make an emergency landing due to weather or other special circumstances.

[0072] It should be noted that the navigation station, ground station and alternate landing field of the drone can be specified by the user terminal or selected by the server. Furthermore, the number of navigation stations, ground stations and alternate landing fields can be adjusted according to actual conditions. In the case of a long flight distance, the number can be appropriately increased.

[0073] In the embodiment of the present application, the flight waypoints can be determined based on the pre-stored electronic map, the take-off point of the drone and the landing point of the drone. For example, the server determines the straight line determined by the take-off point of the drone and the landing point of the drone, and based on the straight line determined by the take-off point of the drone and the landing point of the drone, the server searches for the navigation station, ground station and alternate landing field with the shortest distance from the straight line, and selects the appropriate number of navigation stations, ground stations and alternate landing fields according to the communication range of the navigation station and the ground station and the distance between the take-off point of the drone and the landing point of the drone.

[0074] In an embodiment of the present application, the drone take-off point, the drone landing point, and the flight waypoints can be sorted in the order of the drone's route during flight to form the above-mentioned initialization key point sequence.

[0075] In an embodiment of the present application, the above-mentioned drone take-off point, drone landing point, and flight waypoint can be represented by coordinates. For example, the drone take-off and landing field corresponding to the package departure point has a longitude of 116.54° and a latitude of 39.93° on the electronic map. The key point coordinates of the drone take-off point corresponding to the package departure point are (116.54, 39.93).

[0076] S500, according to LA, determine the target distance corresponding to each first distance list to obtain a target distance list LB=(LB 1 , L.B. 2 , …, LB i , …, LB n ), where LB i For LA i Corresponding target distance; LB i =MIN(LA i ); MIN() is the minimum value function.

[0077] S600, LB iThe corresponding preset location is determined as the flight waypoint corresponding to the logistics transportation route.

[0078] In this embodiment, the preset location with the shortest distance from the midpoint is determined as the flight waypoint corresponding to the midpoint, which can make the total length of the final initialized logistics transportation route the shortest, thereby improving the transportation efficiency of the target UAV.

[0079] S700, according to W 1 , W 2 And for each flight waypoint, generate the initialized drone logistics transportation route corresponding to QT.

[0080] Further, step S700 may include the following steps:

[0081] S710, W 1 Determine as the starting point and set W 2 Determine as the end point, connect each flight waypoint in turn to get the initial UAV logistics transportation route; where W 1 The corresponding starting segment between the adjacent flight waypoints, W 2 The adjacent flight waypoints correspond to the end segment, and any two adjacent flight waypoints correspond to the middle segment.

[0082] In this embodiment, the middle section is a rectangular route, the width of the middle section is greater than the width of the target UAV, and the top height of the middle section is determined according to the maximum flight altitude of the target UAV.

[0083] In this embodiment, the initialization logistics transport route is composed of at least one temporary logistics transport route segment. Each temporary logistics transport route segment is generated by the server according to two adjacent logistics transport route key points in the initialization key point sequence and the UAV flight performance information. When the number of temporary logistics transport route segments is greater than 1, all temporary logistics transport route segments are connected end to end in sequence to form the initialization logistics transport route; wherein the UAV flight performance information may include the maximum flight altitude, the minimum flight altitude and the lateral safety width.

[0084] The temporary logistics transport route may include a starting segment, at least one intermediate segment, and an ending segment. The starting segment is the temporary logistics transport route segment from the take-off stage to the stable flight stage of the drone; the ending segment is the temporary logistics transport route segment from the end of the stable flight stage to the landing stage of the drone; at least one intermediate segment between the starting segment and the ending segment is the temporary logistics transport route segment in the stable flight stage.

[0085] When the temporary logistics transport route section is the middle section, the top height of the middle section is determined according to the maximum flight altitude of the UAV, the bottom height of the temporary logistics transport route section is determined according to the minimum flight altitude of the UAV, and the width boundary of the temporary logistics transport route section is determined according to the safe flight width of the UAV.

[0086] For the starting and ending segments, since the aircraft is in the climbing stage in the starting segment and in the landing stage in the ending segment, the temporary logistics transport route segments corresponding to the starting and ending segments need to be determined based on the drone performance information. Please refer to the above-mentioned middle segment for details and will not be elaborated again.

[0087] The method for generating a drone logistics transportation route in this embodiment obtains a drone logistics transportation request QT sent by a user; determines a target drone take-off point W according to the package departure point; 1 And determine the drone landing point W according to the package delivery point 2 ; W 1 and W 2 Connect to get W 1 and W 2 corresponding straight line ZX; obtaining the first distance from each preset location to the corresponding midpoint within the preset range corresponding to each midpoint to obtain a first distance list set LA; according to LA, determining the target distance corresponding to each first distance list to obtain a target distance list LB; LB i The corresponding preset location is determined as the flight waypoint corresponding to the logistics transportation route; according to W 1 , W 2 And for each flight waypoint, an initialized UAV logistics transportation route corresponding to QT is generated; a logistics transportation route is provided for the UAV used for logistics transportation operations.

[0088] Furthermore, the generated initialized drone logistics transportation route combines the package departure point, package delivery point and flight waypoints, which greatly improves the logistics transportation efficiency and shortens the logistics transportation time while ensuring the safety of the drone and the package during the flight.

[0089] In an exemplary embodiment, the initialization drone logistics transport route determined in the above embodiment may not necessarily match the target drone. If the initialization drone logistics transport route does not match the target drone, the target drone will not be able to transport packages along the initialization drone logistics transport route. Based on this, the initialization drone logistics transport route needs to be adjusted, which may include the following steps:

[0090] Q100, obtain the initialized logistics transportation route; wherein, the initialized logistics transportation route includes several key points, and any two adjacent key points correspond to a temporary logistics transportation route segment.

[0091] In this embodiment, the drone take-off point, drone landing point and flight waypoint corresponding to the initialized logistics transportation route are all key points.

[0092] Q200, sequentially obtain each key point corresponding to the initial logistics transportation route to obtain a key point list E = (E 1 , E 2 ,…,E a ,…,E b ), a=1, 2, …, b; where E a is the ath key point corresponding to the initialized logistics transportation route, and b is the number of key points corresponding to the initialized logistics transportation route.

[0093] In this embodiment, it can be understood that E 1 is the take-off point of the drone, E b It is the landing point of the drone, and other key points are flight waypoints.

[0094] Q300, based on E and the performance information of the target drone, determine LE c Whether the preset target conditions are met; among them, LE c For E c and E c+1 Temporary logistics transport routes between; c = 1, 2, …, b-1.

[0095] Further, the preset target condition includes: a first preset condition, a second preset condition and a third preset condition; wherein the first preset condition, the second preset condition and the third preset condition are different from each other; step Q300 may include the following steps:

[0096] Q310, if LE c If the first preset condition is met, then enter Q320; otherwise, determine LE c The preset target conditions are not met.

[0097] In this embodiment, the first preset condition may be: there is no target obstacle in the temporary logistics transport route segment; Q310 may include the following steps:

[0098] Q311, Get LE c The minimum safe flight altitude corresponding to each building in the projection is used to obtain LE c Corresponding minimum safe flight altitude list HA c =(HA c，1 , HA c，2 ,…,HA c，d ,…,HA c，g(c) ), d = 1, 2, ..., g(c); where HA c，d For LE cThe minimum safe flight altitude corresponding to the d-th building in the projection, g(c) is LE c The number of buildings within the projection.

[0099] Q312, based on the performance information of the target UAV, determine the minimum flight altitude H of the target UAV min .

[0100] Q313, if HA c Each safe flight altitude in is less than H min , then determine LE c Satisfy the first preset condition; otherwise, determine LE c The preset target conditions are not met.

[0101] In actual application, the server cyclically obtains the obstacle conditions from the first temporary logistics transport route segment to the last temporary logistics transport route segment. The embodiment of the present application specifically describes the server determining whether the tenth temporary logistics transport route segment meets the first preset condition as an example.

[0102] A model UAV has a maximum flight altitude of 3,000 meters and a minimum flight altitude of 2,000 meters. The safe lateral width is 20 meters. Based on the flight performance information of the model A UAV, the tenth temporary logistics transport route section can be determined, that is, the top height of the tenth temporary logistics transport route is 3,000 meters, the bottom height is 2,000 meters, and the width boundary is 20 meters.

[0103] The server determines the geographic information within the vertical downward projection range of the tenth temporary logistics transport route segment according to the preset electronic map.

[0104] The minimum flight altitude of Model A UAV is 2000 meters. In order to ensure the flight safety of the UAV to the greatest extent, the server determines obstacles with a height of more than 1500 meters within the projection range as obstacles to be determined based on the preset electronic map.

[0105] For example, there is an obstacle C with a height of 1700 meters, and the server takes obstacle C as a pending obstacle. According to the height value of the pending obstacle C of 1700, the server determines that the minimum safe flight altitude of the drone corresponding to the pending obstacle C is 2100 meters.

[0106] The server subtracts the minimum flight altitude of model A drone from the minimum safe flight altitude corresponding to the target obstacle C to be determined, that is, 2000-2100, and obtains a result of -100, which is a negative value. Based on this, the server can determine that the tenth temporary logistics transport route segment is a temporary logistics transport route segment that does not meet the first preset condition.

[0107] For another example, if the height of an obstacle D is 1500 meters, the obstacle D can be determined as a pending obstacle. According to the height value 1500 of the pending obstacle D, the server determines that the minimum safe flight altitude of the drone corresponding to the pending obstacle D is 1900 meters.

[0108] The server subtracts the minimum flight altitude of model A drone from the minimum safe flight altitude corresponding to the obstacle D to be determined, that is, 2000-1900, and the result is 100, which is a positive value. Based on this, the server can determine that the tenth logistics transport route segment is a temporary logistics transport route segment that meets the first preset condition.

[0109] Q320, if LE c If the second preset condition is met, then enter Q330; otherwise, determine LE c The preset target conditions are not met.

[0110] In this embodiment, the second preset condition may be: the airspace where the temporary logistics transport route segment is located is not a no-fly airspace; step Q320 may include the following steps:

[0111] Q321, according to the drone logistics transportation request issued by the user, determine the drone's flight time period ST.

[0112] Q322, obtain every no-fly airspace within ST.

[0113] Q323, if LE c If the corresponding airspace is not in the prohibited airspace within ST, then determine LE c Satisfy the second preset condition; otherwise, determine LE c The preset target conditions are not met.

[0114] In this embodiment, the drone logistics transportation request may include the time information of this logistics transportation operation. Through this time information, the flight time period of the drone during this logistics transportation operation can be determined.

[0115] Specifically, the server determines the flight time period of the drone based on the length of the initialized logistics transport route and the flight performance information of the specified drone model.

[0116] The server determines, based on a preset electronic map, that the temporary logistics transport route segment that is in a no-fly airspace during the drone flight time period is a temporary logistics transport route segment that does not meet the first preset condition.

[0117] Q330, if LE c If the third preset condition is met, then LE c Meet the preset target conditions; otherwise, determine LE c The preset target conditions are not met.

[0118] In this embodiment, the third preset condition may be that the temporary logistics transport route segment matches the performance information of the target drone corresponding to the drone logistics transport request; step Q330 may include the following steps:

[0119] Q331, based on the performance information of the target UAV, determine the minimum turning radius R corresponding to the target UAV min and the maximum climbing gradient PD when fully loaded max .

[0120] Q332, obtain the turning radius corresponding to each key point except the first key point and the last key point, so as to obtain a key point turning radius list QE=(QE 2 , QE 3 ,…,QE d ,…,QE b-1 ), d = 2, 3, ..., b-1; where QE d For E d The corresponding turning radius.

[0121] Q333, obtain the slope corresponding to each temporary logistics transport route to obtain a list of temporary logistics transport route slopes PE = (PE 1 , PE 2 ,…,PE c ,…,PE b-1 );PE c For LE c The corresponding slope.

[0122] Q334, if each turning radius in QE is greater than or equal to R min And every slope in PE is less than or equal to PD max , then determine LE c Satisfy the third preset condition, otherwise, determine LE c The preset target conditions are not met.

[0123] In this embodiment, the performance information of the drone includes the minimum turning radius of the drone and the maximum climbing gradient of the drone.

[0124] Specifically, according to the drone logistics transportation request, the drone corresponding to the drone logistics transportation request, that is, the drone that performs the logistics transportation operation, is determined, so as to obtain the performance information of the drone that performs the logistics transportation operation.

[0125] In this embodiment, the server traverses each key point of the logistics and transportation route, and regards three adjacent key points of the logistics and transportation route as a detection unit. Every three key points of the logistics and transportation route determine two pipeline sections, and the server calculates the pipeline section turning radius of two adjacent temporary logistics and transportation route sections, and assigns the pipeline section turning radius to the intermediate logistics and transportation route key point in the middle of the three key points of the logistics and transportation route.

[0126] Q400, if LE c If the preset target conditions are not met, the LE c Adjust so that LE c Meet the preset target conditions to obtain the target logistics transportation route.

[0127] In this embodiment, step Q400 may include the following steps:

[0128] Q410, adjusting the temporary logistics transport route segments that do not meet the first preset condition to obtain a first temporary logistics transport route.

[0129] Specifically, according to the temporary logistics transportation route segment that does not meet the first preset condition, new logistics transportation route key points are found until the temporary logistics transportation route segment generated according to the new logistics transportation route key points meets the first preset condition.

[0130] The new logistics transport route key point corresponding to the temporary logistics transport route segment that meets the first preset condition is used as the first temporary logistics transport route key point; and the first temporary logistics transport route is generated according to the first temporary logistics transport route key point.

[0131] Q420, adjusting the temporary logistics transport route segment in the first temporary logistics transport route that does not meet the second preset condition to obtain a second temporary logistics transport route.

[0132] Specifically, based on the first temporary logistics transportation route segment that does not meet the second preset condition in the first temporary logistics transportation route, new logistics transportation route key points are re-searched until the temporary logistics transportation route segment generated based on the new logistics transportation route key points meets the first preset condition and the second preset condition, and the new logistics transportation route key points corresponding to the temporary logistics transportation route segment that meets the first preset condition and the second preset condition are used as the second temporary logistics transportation route key points.

[0133] A second temporary logistics transport route is generated according to the key points of the second temporary logistics transport route.

[0134] Q430, adjusting the temporary logistics transport route segment in the second temporary logistics transport route that does not meet the third preset condition to obtain a third temporary logistics transport route.

[0135] Specifically, according to the second temporary logistics transportation route that does not meet the third preset condition, a new logistics transportation route key point is found until the temporary logistics transportation route segment generated according to the new logistics transportation route key point meets the preset target condition. The new logistics transportation route key point corresponding to the temporary logistics transportation route segment that meets the preset target condition is used as the third temporary logistics transportation route key point.

[0136] A third temporary logistics transport route is generated according to the key points of the third temporary logistics transport route, and the third temporary logistics transport route is the target logistics transport route.

[0137] Furthermore, the target logistics transport route may be able to accommodate multiple layers of drones to transport packages simultaneously. Therefore, in order to improve the efficiency of package transportation, after step Q400, the method may further include the following steps:

[0138] Q500, obtain the height difference between the bottom and top of each target logistics transport route segment of the target logistics transport route to obtain a height difference list ΔH=(ΔH 1 , ΔH 2 , …, ΔH c , …, ΔH b-1 ), where ΔH c is the height difference between the bottom and top surfaces of the cth target logistics transport route segment of the target logistics transport route.

[0139] Q510, based on ΔH, determine the target height difference MH=MIN(ΔH); wherein MIN() is a minimum value function.

[0140] Q520, based on MH and the height YH of the target UAV, determine the number of sub-target logistics transport routes corresponding to the target logistics transport route is the default floor function.

[0141] Q530, divide each target logistics transport route segment into NT sub-target logistics transport route segments.

[0142] Furthermore, the height difference between the bottom and top of each sub-target logistics transport route segment corresponding to the cth target logistics transport route segment is ΔH c / NT.

[0143] Through the above method, the determined target logistics transport route can be divided into NT sub-target logistics transport routes from top to bottom. Each sub-target logistics transport route can be used by a target drone to transport packages, thereby greatly improving the efficiency of the target drone to transport packages.

[0144] The UAV logistics transportation route adjustment method of this embodiment determines whether each temporary logistics transportation route of the initialized UAV logistics transportation route meets the preset target conditions based on the performance information of the target UAV and the information of the initialized UAV logistics transportation route. If the preset target conditions are not met, the temporary logistics transportation route that does not meet the preset target conditions is adjusted to obtain the target logistics transportation route that meets the preset target conditions; thereby, the target logistics transportation route obtained after adjustment can match the performance and airspace information of the target UAV, and the UAV can accurately fly along the planned logistics transportation route.

[0145] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0146] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0147] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The 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 (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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.

[0148] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0149] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0150] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0151] An embodiment of the present invention further provides an electronic device, comprising a processor and the aforementioned non-transitory computer-readable storage medium.

[0152] The electronic device is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0153] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one memory mentioned above, and a bus connecting different system components (including the memory and the processor).

[0154] The memory stores program codes, which can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0155] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0156] The memory may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0157] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0158] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0159] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0160] An embodiment of the present invention further provides a computer program product, which includes program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0161] Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for generating a UAV logistics transport route, characterized in that: The method comprises the following steps: S100, obtaining a drone logistics transport request QT sent by a user; wherein QT includes a package departure point, a package delivery point, and package information; S200, determining a take-off point W1 of a target drone according to a package departure point and determining a landing point W2 of the drone according to a package delivery point; wherein the target drone is used to transport packages; the target drone is determined according to package information and the package departure point; S300, connecting W1 and W2 to obtain a straight line ZX corresponding to W1 and W2; wherein ZX includes n middle points, and the distance between two adjacent middle points is equal; S400, obtaining a first distance between each preset location and the corresponding midpoint within a preset range corresponding to each midpoint, to obtain a first distance list set LA=(LA1, LA2, ..., LA i , …, LA n ), i=1, 2,...,n; where, LA i is the first distance list corresponding to the i-th intermediate point; LA i =(LA i，1 , L.A. i，2 , …, LA i，j , …, LA i，f(i) ), j=1,2,…,f(i); LA i，j is the first distance between the jth preset location within the preset range corresponding to the i-th middle point and the i-th middle point, and f(i) is the number of preset locations within the preset range corresponding to the i-th middle point; S500, according to LA, determine the target distance corresponding to each first distance list to obtain a target distance list LB = (LB1, LB2, ..., LB i , …, LB n ), where LB i For LA i Corresponding target distance; LB i =MIN(LA i );MIN() is the minimum value function; S600, LB i The corresponding preset location is determined as the flight waypoint corresponding to the logistics transportation route; S700, based on W1, W2 and each flight waypoint, generate an initialized drone logistics transport route corresponding to QT.

2. The method for generating a UAV logistics transport route according to claim 1, characterized in that: The target drone is determined by the following steps: S210, obtaining the distance between each pending drone and the package departure point to obtain a distance list D = (D1, D2, ..., D j , …, D m ), j = 1, 2, ... m; where the pending drone is a drone whose current working state is idle; D j is the distance between the jth undetermined drone and the package departure point, and m is the number of undetermined drones; D r <D r+1 ; r = 1, 2, ..., m-1; S220, determining the target UAV according to D and the performance of each pending UAV.

3. The method for generating a UAV logistics transport route according to claim 2, characterized in that: The package information includes: the package weight ZL; step S220 includes the following steps: S221, obtain the maximum load capacity of each undetermined UAV to obtain a list of the maximum load capacities of undetermined UAVs A=(A1, A2, ..., A j , …, A m ), where A j is the maximum load capacity corresponding to the jth undetermined UAV; S222, if A r =A r+1 , then determine the number of target drones in, is the ceiling rounding function; S223, if the maximum loads in A are not completely the same, sort the maximum loads in A from large to small to obtain a sorted maximum load list A' = (A'1, A'2, ..., A' j , …, A' m ), where A' j is the maximum load capacity corresponding to the jth undetermined UAV obtained after sorting A; S224, according to D and A', determine the sorted distance list D' corresponding to A' = (D'1, D'2, ..., D' j , …, D' m ), where D' j A' j The distance between the corresponding pending drone and the package departure point; S225, traverse D', if D' j <DT, then A' j The corresponding undetermined UAV is determined as the target UAV to obtain NUM target UAVs; wherein NUM satisfies the following relationship: ∑ q NUM WR q >ZL;WR q is the qth target UAV determined; q = 1, 2, ..., NUM.

4. The method for generating a UAV logistics transport route according to claim 1, characterized in that: W1 and W2 are determined by the following steps: S230, matching the package departure point and the package delivery point with a pre-stored set of drone take-off and landing sites; S240, when the location information of the package departure point and the package delivery point matches the location information set of the drone take-off and landing field, the drone take-off and landing field corresponding to the package departure point is used as the drone take-off point, and the drone take-off and landing field corresponding to the package delivery point is used as the drone landing point; S250, when the location information of the package departure point and the package delivery point does not match the set of drone take-off and landing sites, select a corresponding drone take-off and landing site according to a preset rule.

5. The method for generating a UAV logistics transport route according to claim 4, characterized in that: Step S250 includes the following steps: S251, obtaining the load of each drone landing site in the drone landing site set corresponding to the package departure point; S252, determining a drone take-off and landing site with a load less than a preset load threshold as a pending drone take-off point; S253, determining the undetermined drone take-off point that is the shortest distance from the package departure point as the drone take-off point; S254, obtaining the load of each drone landing site in the drone landing site set corresponding to the package delivery point; S255, determining the drone take-off and landing site with a load less than a preset load threshold as the pending drone delivery point; S256, determining the pending drone delivery point with the shortest distance from the package delivery point as the drone delivery point.

6. The method for generating a UAV logistics transport route according to claim 1, characterized in that: Step S700 includes the following steps: S710, determine W1 as the starting point, determine W2 as the ending point, and connect each flight waypoint in sequence to obtain the initialized drone logistics transportation route; among which, W1 and the adjacent flight waypoints correspond to the starting segment, W2 and the adjacent flight waypoints correspond to the ending segment, and any two adjacent flight waypoints correspond to the middle segment.

7. The method for generating a UAV logistics transport route according to claim 6, characterized in that: The middle section is a rectangular route, the width of the middle section is greater than the width of the target UAV, and the top height of the middle section is determined according to the maximum flight altitude of the target UAV.

8. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the drone logistics transportation route generation method as described in any one of claims 1-7.

9. An electronic device, characterized in that: Includes a processor and the non-transitory computer-readable storage medium of claim 8.

Images