An intelligent task planning method for UAV logistics distribution

Abstract

The present invention relates to the technical field of unmanned aerial vehicle (UAV) logistics distribution, and particularly to an intelligent task planning method for UAV logistics distribution, including: respectively collecting environmental data and logistics data in real time, analyzing the task requirements of logistics distribution, generating a distribution task list according to the task requirements, and assigning the distribution tasks to a plurality of UAVs; using a positioning sensor to determine the position of the UAVs, using a path planning algorithm to determine the flight paths of the UAVs, and optimizing the paths and task assignments of each UAV in real time according to the actual environmental changes; determining the task planning stability of UAV logistics distribution based on the straight-line distance between the position of the UAVs and the predetermined position; if the task planning stability does not meet the requirements, adjusting the data transmission rate of the positioning sensor; if the robustness does not meet the requirements, adjusting the acquisition frequency of the logistics data. The present invention improves the task planning stability of UAV logistics distribution.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV logistics distribution, and in particular to an intelligent task planning method for UAV logistics distribution. Background Art

[0002] In the prior art, with the rapid development of the e-commerce and logistics industries, people have put forward higher requirements for the efficiency and service quality of logistics distribution. Traditional logistics distribution methods gradually expose many limitations when facing the increasing distribution demands. For example, in the case of urban traffic congestion, the driving speed of ground distribution vehicles is greatly reduced, and the distribution time is extended, resulting in the goods not being delivered to customers in a timely manner; moreover, in some remote areas or areas with inconvenient transportation, traditional distribution methods are difficult to cover and cannot meet the local residents' logistics needs. At the same time, the continuous maturity of UAV technology has brought new solutions to the field of logistics distribution. UAVs have the advantages of strong mobility, not being restricted by ground traffic, and being able to quickly reach the destination, which can effectively make up for the deficiencies of traditional logistics distribution methods. However, to achieve efficient and reliable UAV logistics distribution, many challenges are faced.

[0003] Chinese Patent Publication No.: CN116415873A discloses a UAV task planning method for inland river ship logistics distribution, and the steps are as follows: (1) Collect the planned navigation data of ships with logistics distribution needs, classify the trajectory data according to the upstream and downstream headings of inland river ships, and divide the ship trajectories into multiple trajectory time subsequences at equal time intervals; (2) According to the ship position, time, and navigation speed data, use the trajectory time subsequences in step (1) to calculate the spatio-temporal distances between different ship trajectory subsequences for the two types of ship trajectories of upstream and downstream headings respectively, generate multiple spatio-temporal distance matrices of different ship trajectory subsequences, and calculate the similarity between two ship trajectory sequences in turn; (3) Cluster the ship trajectories based on the similarity between the trajectory sequences obtained in step (2), and obtain the ship trajectory classification according to the clustering result; (4) According to the clustering result of the inland river ship trajectories, determine the ship trajectory information that meets the UAV distribution range under the same clustering category, define the decision variables of UAV logistics distribution, and combine the characteristics of the UAV itself and the requirements of the ship logistics distribution task to construct a multi-UAV logistics distribution task planning model considering the shortest path length; (5) Solve the multi-UAV logistics distribution task planning model established in step (4) to obtain the best solutions for the logistics distribution tasks and flight paths of each UAV. It can be seen that the UAV task planning method for inland river ship logistics distribution has the problem that the accuracy of the sensor in the UAV decreases due to the gradual aging of the internal electronic components after long-term use, resulting in inaccurate positioning and thus the decline of the stability of the UAV logistics distribution task planning. Summary of the Invention

[0004] To this end, the present invention provides an intelligent task planning method for UAV logistics distribution to overcome the problem in the prior art that due to the gradual aging of internal electronic components in the sensors of UAVs after long-term use, the accuracy of the sensors decreases, resulting in inaccurate positioning and thus a decrease in the stability of the task planning for UAV logistics distribution.

[0005] To achieve the above object, the present invention provides an intelligent task planning method for UAV logistics distribution, including: respectively collecting environmental data and logistics data in real time, analyzing the task requirements of logistics distribution, generating a distribution task list according to the task requirements, and assigning the distribution tasks to several UAVs; using a positioning sensor to determine the position of the UAV, using a path planning algorithm to determine the flight path of the UAV, and optimizing the paths and task assignments of each UAV in real time according to the actual environmental changes; respectively obtaining the position of a single UAV and the predetermined position of the UAV; determining the stability of the task planning for UAV logistics distribution based on the straight-line distance between the position of the UAV and the predetermined position; if the stability of the task planning does not meet the requirements, adjusting the data transmission rate of the positioning sensor, or determining whether the robustness of the task planning meets the requirements based on the error rate of the UAV path planning; if the robustness does not meet the requirements, adjusting the acquisition frequency of the logistics data, or adjusting the rotation speed of the propeller in the UAV based on the average delay duration of UAV logistics distribution.

[0006] Further, determining the stability of the task planning for UAV logistics distribution includes:

[0007] Comparing the straight-line distance between the position of the UAV and the predetermined position with a preset first distance;

[0008] If the straight-line distance between the position of the UAV and the predetermined position is greater than the preset first distance, it is determined that the stability of the task planning for UAV logistics distribution does not meet the requirements.

[0009] Further, determining the robustness of the task planning includes:

[0010] Comparing the straight-line distance between the position of the UAV and the predetermined position with the preset first distance and the preset second distance respectively;

[0011] If the straight-line distance between the position of the UAV and the predetermined position is greater than the preset first distance and less than or equal to the preset second distance, it is preliminarily determined that the robustness of the task planning does not meet the requirements, and it is determined whether the robustness of the task planning meets the requirements according to the error rate of the UAV path planning.

[0012] Further, adjusting the data transmission rate of the positioning sensor includes:

[0013] Compare the straight-line distance between the position of the drone and the predetermined position with the preset second distance;

[0014] If the straight-line distance between the position of the drone and the predetermined position is greater than the preset second distance, increase the data transmission rate of the positioning sensor.

[0015] Furthermore, the increase amplitude of the data transmission rate of the positioning sensor is determined according to the difference between the straight-line distance between the position of the drone and the predetermined position and the preset second distance.

[0016] Furthermore, adjusting the acquisition frequency of the logistics data includes:

[0017] Compare the error rate of the drone path planning with the preset first error rate and the preset second error rate respectively;

[0018] If the error rate of the drone path planning is greater than the preset first error rate, it is determined that the robustness of the mission planning does not meet the requirements;

[0019] If the error rate of the drone path planning is greater than the preset first error rate and less than or equal to the preset second error rate, reduce the acquisition frequency of the logistics data;

[0020] If the error rate of the drone path planning is greater than the preset second error rate, it is preliminarily determined that the environmental stability of the mission planning does not meet the requirements, and it is determined whether the environmental stability of the mission planning meets the requirements according to the average delay duration of the drone logistics distribution.

[0021] Furthermore, the error rate of the drone path planning is the ratio of the number of times of the drone path planning error to the total number of times of the path planning.

[0022] Furthermore, the reduction amplitude of the acquisition frequency of the logistics data is determined according to the difference between the error rate of the drone path planning and the preset first error rate.

[0023] Furthermore, adjusting the rotation speed of the propellers in the drone includes:

[0024] Compare the average delay duration of the drone logistics distribution with the preset delay duration;

[0025] If the average delay duration of the drone logistics distribution is greater than the preset delay duration, it is determined that the environmental stability of the mission planning does not meet the requirements, and increase the rotation speed of the propellers in the drone.

[0026] Furthermore, the increase amplitude of the rotation speed of the propellers in the drone is determined according to the difference between the average delay duration of the drone logistics distribution and the preset delay duration.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows. The method of the present invention adjusts the data transmission rate of the positioning sensor according to the straight-line distance between the position of the unmanned aerial vehicle (UAV) and the predetermined position. Since the internal electronic components of the sensors in the UAV gradually age after long-term use, the accuracy of the sensors decreases, resulting in inaccurate positioning. By increasing the data transmission rate of the positioning sensor, the positioning sensor can transmit the collected data to the processing unit more quickly, enabling the UAV control system to adjust the position and correct the flight attitude more quickly according to the new data. The collection frequency of the logistics data is adjusted according to the error rate of the UAV path planning. Since there may be noise in the collected data, the planning algorithm needs to spend extra time to process these problems, and there may also be incorrect results obtained by the algorithm due to data quality problems, affecting the normal operation of the algorithm. By reducing the collection frequency of the logistics data, some high-frequency noise can be filtered out, and the number of data with high-frequency noise can be reduced, thereby reducing the interference of noise on the data to a certain extent. The rotation speed of the propellers in the UAV is adjusted according to the average delay duration of the UAV logistics distribution. Since strong winds may be encountered during the UAV distribution process, affecting the flight speed of the UAV and significantly delaying the overall distribution time, by increasing the rotation speed of the propellers in the UAV, the propellers can push more air, thereby generating greater thrust and more effectively generating the torque required to restore the UAV to a stable attitude, which is beneficial to maintaining or increasing the flight speed and reducing the distribution time delay, and improving the task planning stability of the UAV logistics distribution.

[0028] Further, the method of the present invention adjusts the data transmission rate of the positioning sensor by setting a preset first distance and a preset second distance. Since the internal electronic components of the sensors in the UAV gradually age after long-term use, the accuracy of the sensors decreases, resulting in inaccurate positioning. By increasing the data transmission rate of the positioning sensor, the positioning sensor can transmit the collected data to the processing unit more quickly, enabling the UAV control system to adjust the position and correct the flight attitude more quickly according to the new data, further improving the task planning stability of the UAV logistics distribution.

[0029] Further, the method of the present invention adjusts the collection frequency of the logistics data by setting a preset first error rate and a preset second error rate. Since there may be noise in the collected data, the planning algorithm needs to spend extra time to process these problems, and there may also be incorrect results obtained by the algorithm due to data quality problems, affecting the normal operation of the algorithm. By reducing the collection frequency of the logistics data, some high-frequency noise can be filtered out, and the number of data with high-frequency noise can be reduced, thereby reducing the interference of noise on the data to a certain extent, further improving the task planning stability of the UAV logistics distribution.

[0030] Furthermore, in the method of the present invention, by setting a preset delay duration, the rotation speed of the propellers in the drone is adjusted. Since strong winds may be encountered during the drone delivery process, affecting the flight speed of the drone and significantly delaying the overall delivery time, by increasing the rotation speed of the propellers in the drone, more air can be pushed by the propellers, thereby generating a greater thrust and more effectively generating the torque required to restore the drone to a stable attitude. This is conducive to maintaining or increasing the flight speed, reducing the delivery time delay, and further improving the task planning stability of the drone logistics delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is the overall flowchart of the intelligent task planning method for drone logistics delivery according to an embodiment of the present invention;

[0032] Figure 2 is the logical flowchart of the intelligent task planning method for drone logistics delivery according to an embodiment of the present invention;

[0033] Figure 3 is the specific flowchart of the process of adjusting the data transmission rate of the positioning sensor in the intelligent task planning method for drone logistics delivery according to an embodiment of the present invention;

[0034] Figure 4 is the specific flowchart of the process of adjusting the acquisition frequency of logistics data in the intelligent task planning method for drone logistics delivery according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0037] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, which are respectively the overall flowchart, logical flowchart, specific flowchart of the process of adjusting the data transmission rate of the positioning sensor, and specific flowchart of the process of adjusting the acquisition frequency of logistics data of the intelligent task planning method for drone logistics delivery according to an embodiment of the present invention. An intelligent task planning method for drone logistics delivery of the present invention includes:

[0038] Step S1: Real-time collect environmental data and logistics data respectively, analyze the task requirements of logistics distribution, generate a distribution task list according to the task requirements, and assign the distribution tasks to a number of drones;

[0039] Step S2: Use a positioning sensor to determine the position of the drone, use a path planning algorithm to determine the flight path of the drone, and optimize the path and task assignment of each drone in real time according to the actual environmental changes;

[0040] Step S3: Obtain the position of a single drone and the predetermined position of the drone respectively;

[0041] Step S4: Determine the task planning stability of the drone logistics distribution based on the straight-line distance between the position of the drone and the predetermined position;

[0042] Step S5: If the task planning stability does not meet the requirements, adjust the data transmission rate of the positioning sensor, or determine whether the robustness of the task planning meets the requirements based on the error rate of the drone path planning;

[0043] Step S6: If the robustness does not meet the requirements, adjust the acquisition frequency of the logistics data, or adjust the rotation speed of the propeller in the drone based on the average delay time of the drone logistics distribution.

[0044] Specifically, the environmental data includes temperature, humidity, and wind speed.

[0045] Specifically, the logistics data includes cargo demand, drone status, and traffic conditions.

[0046] Specifically, the task requirements of logistics distribution include the quantity of goods, the delivery location of goods, and the delivery time limit of goods.

[0047] Specifically, the distribution task list includes the identifier of each distribution task, the creation time of the distribution task, and the delivery information of the goods.

[0048] Specifically, the path planning algorithm includes Dijkstra algorithm, A* algorithm, and ant colony algorithm.

[0049] Specifically, the data transmission rate of the positioning sensor is adjusted by increasing the sampling frequency of the positioning sensor or optimizing the data transmission protocol (such as using a more efficient communication protocol).

[0050] Specifically, the rotation speed of the propeller in the drone is adjusted by increasing the input voltage of the motor or adjusting the duty cycle of the PWM signal to increase the motor speed.

[0051] Specifically, part of the high-frequency noise is filtered by a low-pass filter.

[0052] Specifically, the robustness is measured by the error rate of the UAV path planning. By comparing the error rates before and after adjustment, it can be proved whether the accuracy is improved. If the error rate is significantly reduced, it indicates that the accuracy has been improved.

[0053] In implementation, the method of the present invention adjusts the data transmission rate of the positioning sensor according to the straight-line distance between the position of the UAV and the predetermined position. Since the internal electronic components of the sensors in the UAV gradually age after long-term use, the accuracy of the sensors decreases, resulting in inaccurate positioning. By increasing the data transmission rate of the positioning sensor, the positioning sensor can transmit the collected data to the processing unit more quickly, enabling the UAV control system to adjust the position and correct the flight attitude according to the new data more quickly. The acquisition frequency of the logistics data is adjusted according to the error rate of the UAV path planning. Since there may be noise in the collected data, the planning algorithm needs to spend extra time to process these problems, and there may also be incorrect results due to data quality problems, affecting the normal operation of the algorithm. By reducing the acquisition frequency of the logistics data, some high-frequency noise can be filtered out, reducing the number of data with high-frequency noise, thereby reducing the interference of noise on the data to a certain extent. The rotation speed of the propellers in the UAV is adjusted according to the average delay time of the UAV logistics distribution. Since strong winds may be encountered during the UAV distribution process, the flight speed of the UAV is affected, and the overall distribution time will be significantly delayed. By increasing the rotation speed of the propellers in the UAV, the propellers can push more air, thereby generating greater thrust and more effectively generating the torque required to restore the UAV to a stable attitude, which is beneficial to maintaining or increasing the flight speed, reducing the distribution time delay, and improving the task planning stability of the UAV logistics distribution.

[0054] Specifically, determining the task planning stability of the UAV logistics distribution includes:

[0055] Obtaining the distance between the actual center of gravity position of a single UAV and the predetermined center of gravity position of the UAV;

[0056] Comparing the straight-line distance between the position of the UAV and the predetermined position with a preset first distance;

[0057] If the straight-line distance between the position of the UAV and the predetermined position is greater than the preset first distance, it is determined that the task planning stability of the UAV logistics distribution does not meet the requirements.

[0058] Specifically, determining the robustness of the task planning includes:

[0059] Comparing the straight-line distance between the position of the UAV and the predetermined position with the preset first distance and the preset second distance respectively;

[0060] If the straight-line distance between the position of the UAV and the predetermined position is greater than the preset first distance and less than or equal to the preset second distance, it is preliminarily determined that the robustness of the mission plan does not meet the requirements, and it is determined whether the robustness of the mission plan meets the requirements according to the error rate of the UAV path planning.

[0061] It can be understood that the three intervals divided by the preset first distance and the preset second distance respectively correspond to three situations:

[0062] The first interval is that the straight-line distance between the position of the UAV and the predetermined position is less than or equal to the preset first distance, and the corresponding situation is: it is determined that the stability of the mission plan for UAV logistics distribution meets the requirements;

[0063] The second interval is that the straight-line distance between the position of the UAV and the predetermined position is greater than the preset first distance and less than or equal to the preset second distance, and the corresponding situation is: due to possible noise in the collected data, the planning algorithm needs to spend extra time to process these problems, and it is also possible that the algorithm gets wrong results due to data quality problems, affecting the normal operation of the algorithm;

[0064] The third interval is that the straight-line distance between the position of the UAV and the predetermined position is greater than the preset second distance, and the corresponding situation is: due to the gradual aging of the internal electronic components of the sensors in the UAV after long-term use, the accuracy of the sensors decreases, resulting in inaccurate positioning.

[0065] In practice, the generally selected range of the preset first distance is [0.4m, 0.6m], and the generally selected range of the preset second distance is [0.7m, 0.9m].

[0066] Preferably, the preferred embodiment of the preset first distance is 0.5m, and the preferred embodiment of the preset second distance is 0.8m.

[0067] Specifically, the straight-line distance between the position of the UAV and the predetermined position is the distance between the actual center-of-gravity position of a single UAV and the predetermined center-of-gravity position of the UAV.

[0068] In implementation, the method of the present invention determines the stability of the mission plan for UAV logistics distribution by setting the preset first distance and the preset second distance, reducing the impact of the inaccurate determination of the stability of the mission plan for UAV logistics distribution on the accuracy decline of the mission plan for UAV logistics distribution, and further improving the stability of the mission plan for UAV logistics distribution.

[0069] Specifically, adjusting the data transmission rate of the positioning sensor includes:

[0070] Compare the straight-line distance between the position of the drone and the predetermined position with the preset second distance;

[0071] If the straight-line distance between the position of the drone and the predetermined position is greater than the preset second distance, increase the data transmission rate of the positioning sensor.

[0072] Specifically, the increase amplitude of the data transmission rate of the positioning sensor is determined according to the difference between the straight-line distance between the position of the drone and the predetermined position and the preset second distance.

[0073] Specifically, when the difference between the straight-line distance between the position of the drone and the predetermined position and the preset second distance is within 0.3m, the data transmission rate of the positioning sensor is increased to 1.1 times the original; when the difference between the straight-line distance between the position of the drone and the predetermined position and the preset second distance exceeds 0.3m, on the basis of increasing to 1.1 times the original, for every 0.1m exceeded, the data transmission rate of the positioning sensor is increased by 50Kbps. For example, if the difference between the straight-line distance between the position of the drone and the predetermined position and the preset second distance is 0.5m and the current data transmission rate of the positioning sensor is 200Kbps, the increased data transmission rate of the positioning sensor is 200×1.1 + 50×2 = 320Kbps.

[0074] In implementation, by setting the preset first distance and the preset second distance, the method of the present invention adjusts the data transmission rate of the positioning sensor. Since the internal electronic components of the sensors in the drone gradually age after long-term use, the accuracy of the sensors decreases, resulting in inaccurate positioning. By increasing the data transmission rate of the positioning sensor, the positioning sensor can transmit the collected data to the processing unit more quickly, enabling the drone control system to adjust the position and correct the flight attitude more quickly according to the new data, further improving the task planning stability of the drone logistics distribution.

[0075] Specifically, adjusting the acquisition frequency of the logistics data includes:

[0076] Respectively obtain the number of times of path planning errors of the drone and the total number of path planning, and calculate the error rate of the drone path planning;

[0077] Compare the error rate of the drone path planning with the preset first error rate and the preset second error rate respectively;

[0078] If the error rate of the drone path planning is greater than the preset first error rate, it is determined that the robustness of the task planning does not meet the requirements;

[0079] If the error rate of the drone path planning is greater than the preset first error rate and less than or equal to the preset second error rate, reduce the acquisition frequency of the logistics data;

[0080] If the error rate of the UAV path planning is greater than a preset second error rate, it is preliminarily determined that the environmental stability of the task planning does not meet the requirements, and it is determined whether the environmental stability of the task planning meets the requirements according to the average delay duration of the UAV logistics distribution.

[0081] It can be understood that the three intervals divided by the preset first error rate and the preset second error rate respectively correspond to three situations:

[0082] The first interval is that the error rate of the UAV path planning is less than or equal to the preset first error rate, and the corresponding situation is: it is determined that the robustness of the task planning meets the requirements;

[0083] The second interval is that the error rate of the UAV path planning is greater than the preset first error rate and less than or equal to the preset second error rate, and the corresponding situation is: due to possible noise in the collected data, the planning algorithm needs to spend extra time to process these problems, and it is also possible that the algorithm gets wrong results due to data quality problems, affecting the normal operation of the algorithm;

[0084] The third interval is that the error rate of the UAV path planning is greater than the preset second error rate, and the corresponding situation is: due to the possible strong wind during the UAV delivery process, the flight speed of the UAV is affected, and the overall delivery time will be significantly delayed.

[0085] In practice, the generally selected range of the preset first error rate is [1%, 3%], and the generally selected range of the preset second error rate is [4%, 6%].

[0086] Preferably, the preferred embodiment of the preset first error rate is 2%, and the preferred embodiment of the preset second error rate is 5%.

[0087] In implementation, the method of the present invention determines the robustness of the task planning by setting the preset first error rate and the preset second error rate, reduces the influence of the decrease in the stability of the task planning of the UAV logistics distribution caused by inaccurate determination of the robustness of the task planning, and further improves the stability of the task planning of the UAV logistics distribution.

[0088] Specifically, the error rate of the UAV path planning is the ratio of the number of path planning errors of the UAV to the total number of path planning.

[0089] Specifically, the decrease amplitude of the acquisition frequency of the logistics data is determined according to the difference between the error rate of the UAV path planning and the preset first error rate.

[0090] Specifically, when the difference between the error rate of the UAV path planning and the preset first error rate is within 2%, the acquisition frequency of the logistics data is reduced to 0.9 times of the original; when the difference between the error rate of the UAV path planning and the preset first error rate exceeds 2%, on the basis of reducing to 0.9 times of the original, for every 1% exceeded, the acquisition frequency of the logistics data is reduced by 1 time / second. For example, if the difference between the error rate of the UAV path planning and the preset first error rate is 4% and the current acquisition frequency of the logistics data is 10 times / second, the reduced acquisition frequency of the logistics data is 10×0.9 - 1×2 = 7 times / second.

[0091] In implementation, the method of the present invention adjusts the acquisition frequency of the logistics data by setting a preset first error rate and a preset second error rate. Since there may be noise in the collected data, the planning algorithm needs to spend extra time to process these problems. There may also be incorrect results obtained by the algorithm due to data quality problems, affecting the normal operation of the algorithm. By reducing the acquisition frequency of the logistics data, some high-frequency noise can be filtered out, and the number of data with high-frequency noise can be reduced, thereby reducing the interference of noise on the data to a certain extent and further improving the task planning stability of UAV logistics distribution.

[0092] Specifically, adjusting the rotation speed of the propeller in the UAV includes:

[0093] Obtaining the delay durations of several UAV logistics distributions under the same environment and the same distance, and calculating the average delay duration of the UAV logistics distribution;

[0094] Comparing the average delay duration of the UAV logistics distribution with a preset delay duration;

[0095] If the average delay duration of the UAV logistics distribution is greater than the preset delay duration, it is determined that the environmental stability of the task planning does not meet the requirements, and the rotation speed of the propeller in the UAV is increased.

[0096] It can be understood that the two intervals divided by the preset delay duration respectively correspond to two situations:

[0097] The first interval is that the average delay duration of the UAV logistics distribution is less than or equal to the preset delay duration, and the corresponding situation is: it is determined that the environmental stability of the task planning meets the requirements;

[0098] The second interval is that the average delay duration of the UAV logistics distribution is greater than the preset delay duration, and the corresponding situation is: during the UAV delivery process, strong winds may be encountered, resulting in the flight speed of the UAV being affected and the overall delivery time being significantly delayed.

[0099] In practice, the generally selected range of the preset delay duration is [9 min, 11 min].

[0100] Preferably, a preferred embodiment of the preset delay duration is 10 min.

[0101] Specifically, the average delay duration of the UAV logistics distribution is the ratio of the total delay duration of several UAV logistics distributions under the same environment and the same distance to the number of UAVs.

[0102] In implementation, the method of the present invention determines the environmental stability of the mission planning by setting a preset delay duration, reducing the impact of the decline in the mission planning stability of the UAV logistics distribution caused by inaccurate determination of the environmental stability of the mission planning, and further improving the mission planning stability of the UAV logistics distribution.

[0103] Specifically, the increase amplitude of the rotation speed of the propeller in the UAV is determined according to the difference between the average delay duration of the UAV logistics distribution and the preset delay duration.

[0104] Specifically, when the difference between the average delay duration of the UAV logistics distribution and the preset delay duration is within 3 min, the rotation speed of the propeller in the UAV increases to 1.2 times the original; when the difference between the average delay duration of the UAV logistics distribution and the preset delay duration exceeds 3 min, on the basis of increasing to 1.2 times the original, for every additional 2 min, the rotation speed of the propeller in the UAV increases by 500 r / min. For example, when the difference between the average delay duration of the UAV logistics distribution and the preset delay duration is 7 min and the current rotation speed of the propeller in the UAV is 5000 r / min, the increased rotation speed of the propeller in the UAV is 5000×1.2 + 500×2 = 7000 r / min.

[0105] In implementation, the method of the present invention adjusts the rotation speed of the propeller in the UAV by setting a preset delay duration. Since strong winds may be encountered during the UAV delivery process, affecting the flight speed of the UAV and significantly delaying the overall delivery time, by increasing the rotation speed of the propeller in the UAV, more air can be pushed by the propeller, thereby generating a greater thrust and more effectively generating the torque required to restore the UAV to a stable attitude, which is beneficial to maintaining or increasing the flight speed, reducing the delivery time delay, and further improving the mission planning stability of the UAV logistics distribution.

[0106] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims

1. An intelligent task planning method for UAV logistics distribution, characterized in that, Including: Real-time collect environmental data and logistics data respectively, analyze the task requirements of logistics distribution, generate a distribution task list according to the task requirements, and assign the distribution tasks to several drones; Use a positioning sensor to determine the position of the drone, use a path planning algorithm to determine the flight path of the drone, and optimize the path and task assignment of each drone in real time according to the actual environmental changes; Obtain the position of a single drone and the predetermined position of the drone respectively; Determine the task planning stability of the drone logistics distribution based on the straight-line distance between the position of the drone and the predetermined position; If the task planning stability does not meet the requirements, adjust the data transmission rate of the positioning sensor, or determine whether the robustness of the task planning meets the requirements based on the error rate of the drone path planning; If the robustness does not meet the requirements, adjust the acquisition frequency of the logistics data, or adjust the rotation speed of the propeller in the drone based on the average delay duration of the drone logistics distribution; Determining the task planning stability of the drone logistics distribution includes: Compare the straight-line distance between the position of the drone and the predetermined position with a preset first distance; If the straight-line distance between the position of the drone and the predetermined position is greater than the preset first distance, determine that the task planning stability of the drone logistics distribution does not meet the requirements; Determining the robustness of the task planning includes: Compare the straight-line distance between the position of the drone and the predetermined position with the preset first distance and the preset second distance respectively; If the straight-line distance between the position of the drone and the predetermined position is greater than the preset first distance and less than or equal to the preset second distance, preliminarily determine that the robustness of the task planning does not meet the requirements, and determine whether the robustness of the task planning meets the requirements according to the error rate of the drone path planning; Adjusting the data transmission rate of the positioning sensor includes: Compare the straight-line distance between the position of the drone and the predetermined position with the preset second distance; If the straight-line distance between the position of the drone and the predetermined position is greater than the preset second distance, increase the data transmission rate of the positioning sensor.

2. The intelligent task planning method for UAV logistics distribution according to claim 1, wherein The increase amplitude of the data transmission rate of the positioning sensor is determined according to the difference between the straight-line distance between the position of the drone and the predetermined position and the preset second distance.

3. The intelligent task planning method for UAV logistics distribution according to claim 2, wherein, Adjusting the acquisition frequency of the logistics data includes: Compare the error rate of the drone path planning with a preset first error rate and a preset second error rate respectively; If the error rate of the drone path planning is greater than the preset first error rate, determine that the robustness of the task planning does not meet the requirements; If the error rate of the drone path planning is greater than the preset first error rate and less than or equal to the preset second error rate, reduce the acquisition frequency of the logistics data; If the error rate of the drone path planning is greater than the preset second error rate, preliminarily determine that the environmental stability of the task planning does not meet the requirements, and determine whether the environmental stability of the task planning meets the requirements according to the average delay duration of the drone logistics distribution.

4. The intelligent task planning method for UAV logistics distribution according to claim 3, wherein The error rate of the UAV path planning is the ratio of the number of UAV path planning errors to the total number of path planning times.

5. The intelligent task planning method for UAV logistics distribution according to claim 4, characterized in that, The reduction amplitude of the acquisition frequency of the logistics data is determined according to the difference between the error rate of the UAV path planning and the preset first error rate.

6. The intelligent task planning method for UAV logistics distribution according to claim 5, characterized in that Adjusting the rotation speed of the propeller in the UAV includes: Comparing the average delay duration of the UAV logistics distribution with the preset delay duration; If the average delay duration of the UAV logistics distribution is greater than the preset delay duration, it is determined that the environmental stability of the task planning does not meet the requirements, and the rotation speed of the propeller in the UAV is increased.

7. The intelligent task planning method for UAV logistics distribution according to claim 6, wherein, The increase amplitude of the rotation speed of the propeller in the UAV is determined according to the difference between the average delay duration of the UAV logistics distribution and the preset delay duration.

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