Multi-storey building unmanned aerial vehicle delivery method and delivery system based on maximization of ratio of active cost to passive cost

Abstract

The invention discloses a multi-storey building unmanned aerial vehicle delivery method and system based on maximization of the ratio of active cost to passive cost, and the method specifically comprises the steps: 1, initializing a user set # imgabs0 #, and if # imgabs1 #, # imgabs2 #, ending an algorithm; otherwise, executing the step 2; 2, selecting a user of the lowest floor in the participant set as a user of a target floor for cargo transportation of the unmanned aerial vehicle, wherein the payment function reaches the maximum value; step 3, updating the maximum load capacity of the unmanned aerial vehicle and a participant set, and if # imgabs3 # or # imgabs4 #, ending the algorithm; otherwise, executing the step 4; 4, the cargo weight of the users on the # imgabs5 floor is large or the cargo transportation of the users lower than the # imgabs6 floor is small, and the payment function of the users on the # imgabs7 floor is large; and vice versa; and 5, selecting the user with the maximum and minimum payment functions in the set as a target floor user for the unmanned aerial vehicle to transport goods, and returning to the step 3. According to the invention, reasonable delivery is carried out on users of different floors, and the self cost and the delivery cost of other users are considered.

Description

Technical Field

[0001] The present invention relates to the technical field of drone delivery, and in particular to a drone delivery method and a delivery system for multi-story buildings based on maximizing the ratio of active and passive costs. Background Art

[0002] Drone delivery technology is an innovative logistics solution that combines drone technology and logistics information technology to achieve more efficient and accurate delivery services. In delivery scenarios for different floors, drone technology has demonstrated its unique advantages. Drones usually adopt a multi-rotor design, such as an octorotor aircraft, and are equipped with advanced equipment such as a GPS self-control navigation system and high-precision sensors. These devices enable drones to have multiple flight modes such as GPS self-control navigation, fixed-point suspension, and manual control to ensure flight stability and accuracy. During the delivery process, drones can plan delivery routes through logistics information technology, monitor the status and location of goods in real time, and ensure that the goods are delivered safely and on time. For different floors, drones can flexibly adjust flight altitudes and routes to deliver packages quickly and accurately. In addition, drone delivery also has the advantages of reducing labor costs, improving delivery efficiency, and avoiding traffic congestion. Especially in remote areas or difficult-to-access floor areas, drones can cross complex terrain and deliver packages to their destinations. How drones can reasonably deliver goods to users on these different floors is a key issue that needs to be solved urgently. Summary of the invention

[0003] Purpose of the invention: The present invention provides a multi-story drone delivery method and delivery system based on maximizing the ratio of active and passive costs, which can reasonably deliver goods to users on different floors, taking into account not only its own cost but also the delivery costs of other users.

[0004] Technical solution: The method for delivering goods to a multi-story building by drone based on maximizing the ratio of active to passive costs described in the present invention comprises the following steps:

[0005] Step 1: Initialize the user collection ,like ,but , the algorithm ends; otherwise, execute step 2; where, Gather participants, For the The weight of the cargo of the floor users, is the maximum payload of the drone;

[0006] Step 2: Select the participant set The user on the lowest floor, i.e., the user on floor 1, is the target floor user for the drone to deliver goods. No matter how other users choose to deliver goods, the floor user only pays the price actively, but not passively. Therefore, the payment function reaches the maximum value and and ;

[0007] Step 3: Update the maximum payload of the drone, i.e. , and the set of participants ,like or When , the algorithm ends; otherwise, execute step 4;

[0008] Step 4: If The cargo of the user on the second floor is heavier or heavier than that on the first floor. When the number of goods transported by users on the lower floors is small, The payment function of the floor users is larger; vice versa;

[0009] Step 5. Select a collection The user with the maximum and minimum payment function in is the target floor user for the drone to deliver the goods, that is ,make , return to step 3.

[0010] Furthermore, in step 2, the active cost is defined as the energy consumption cost of the drone paid by the user to raise the weight of the cargo he needs to the height of the floor.

[0011] Furthermore, in step 2, the passive cost is defined as the energy consumption cost incurred by the drone when delivering goods to users on other floors on the way to the user.

[0012] Furthermore, in step 4, calculate The minimum payment function of the floor user is

[0013]

[0014] in, For the The weight of the cargo of the floor users, For the The weight of the cargo of the floor users, is the local gravitational acceleration, is the air density, and are the rotor area and the number of rotors respectively, is the flight speed of the drone, For the The height of the floor.

[0015] Accordingly, a multi-story drone delivery system based on maximizing the ratio of active to passive costs includes: an initialization module, a load-carrying capacity update module, and a target user selection module; the initialization module initializes the user set, the load-carrying capacity update module updates the maximum load-carrying capacity of the drone, and the target user selection module selects the user with the maximum and minimum payment function as the target floor user for the drone to deliver the goods.

[0016] Furthermore, the initialization module initializes the user set. If the sum of the cargo weights of the users before the i-th floor is less than the drone's load capacity, the delivery is completed in one time and the algorithm ends.

[0017] Furthermore, the target user selection module selects the participant set The user on the lowest floor, i.e., the user on floor 1, is the target floor user for the drone to deliver goods. No matter how other users choose to deliver goods, the floor user only pays active costs and no passive costs, so the payment function reaches the maximum value.

[0018] Furthermore, if The cargo of the user on the second floor is heavier or heavier than that of the When the number of users on the lower floors is small, The payment function of the floor user is larger, and the target user selection module selects the user with the largest payment function as the target floor user for the drone to deliver the goods.

[0019] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention takes into account that the energy consumption cost paid by a user on a certain floor when a drone provides delivery service to the user not only includes the energy consumption cost paid by the drone for the weight of the goods required by the user to rise to the height of the floor, but also includes the energy consumption cost generated when the drone delivers goods to users on other floors on the way to the user. This effectively solves the delivery problem of different cargo weights required by users on different floors, and provides a low-complexity multi-floor drone delivery method. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0021] like Figure 1 As shown, the drone provides delivery service for all users of a unit in a multi-story building. In order to reduce the energy consumption of the drone, the common delivery method of the drone rising from the lower floors to the higher floors is adopted, that is, the ground is selected as the starting point, and the drone delivers the goods floor by floor. In addition, the drone can carry goods of users on multiple floors that do not exceed its load capacity in one delivery cycle.

[0022] Assume that a unit in a multi-storey building has users on different floors, whose set is recorded as , and users on different floors need goods of different weights, record the The cargo weight of the floor users is The flying speed of the drone is , the height of a single floor is .

[0023] Since the flight energy consumption of a drone is related to the load and several parameters of the drone, the energy consumed by a drone in moving a certain distance in space can be written as

[0024]

[0025] in, For the payload of the drone, is the local gravitational acceleration; is the air density; and are the rotor area and the number of rotors respectively; is the flight distance of the drone; is the flight speed of the drone. , , , and Under the premise that the parameters remain unchanged, it can be seen that the greater the flight distance of the drone or the more load it carries, the greater its flight energy consumption.

[0026] Since drones deliver goods from lower floors to higher floors, the energy cost paid by a user on a certain floor when a drone provides delivery service is divided into active cost and passive cost: the active cost is defined as the energy cost paid by the user for the weight of the goods he needs to rise to the height of the floor, while the passive cost is defined as the energy cost incurred by the drone when delivering goods to users on other floors on the way to the user. The passive cost is generated because drones provide goods delivery services to users on multiple floors in one delivery cycle. In the way of delivering goods to users on high floors, drones inevitably need to carry goods from other lower floors, so users on high floors need to pay passive costs for users lower than them. At the same time, it should be noted that the goods of users on high floors are also delivered in one delivery cycle of drones, but users on low floors do not pass through users on high floors when drones deliver goods to them, so users on low floors should not pay for the delivery of goods by users on high floors.

[0027] Based on the above analysis, the The cost that the floor users actively pay is

[0028]

[0029] in, For the The height of the floor.

[0030] No. The passive cost paid by floor users is

[0031]

[0032] Since the load capacity of the drone is limited, The total cargo load of the users is greater than the maximum load of the drone When , some floor users will not be able to obtain the required goods transportation. , when the drone is the first When floor users deliver the goods they need ,otherwise .

[0033] Considering the limited load capacity of drones, users with different cargo weight requirements compete with each other in the allocation of drone load resources. Therefore, the game theory mechanism is used in the present invention to mathematically model the drone delivery method as follows:

[0034] 1) Participants are the user sets on each floor, that is ;

[0035] 2) Users on each floor can choose their strategy set, that is, When floor users need drones to deliver the goods they need ,otherwise ; and because the load of the drone is limited, the game strategy constraint is ;

[0036] 3) Since users on each floor want drones to deliver their goods and reduce the passive cost of drones delivering goods of users lower than themselves, the first The payment function (benefit) of the floor users is defined as the ratio of the cost they actively pay to the cost they passively pay, that is,

[0037]

[0038] In particular, when At that time, When users on the lower floors have no goods to transport, Floor users have no passive costs, so their payment function only includes their own active costs .

[0039] In the game relationship, each floor user sets their own binary indicator variable To maximize its objective function, the drone responds to cargo transportation requests from each floor and looks for new equilibrium points. In the game, each user on each floor wants to maximize his payment function.

[0040] From the above modeling, we can see that since the strategy set is a binary indicator variable, if the traversal method is used to solve it, it is necessary to calculate This specific strategy greatly increases the computational complexity of the algorithm. A low-complexity multi-floor drone delivery method is proposed here.

[0041] Step 1: Initialize the set of users who can deliver goods ,like ,but , the algorithm ends; otherwise, execute the second step;

[0042] Step 2: Select the participant set The user on the lowest floor (user on floor 1) is the target floor user for the drone to deliver goods. This is because No matter how other users choose to deliver goods, the floor user only has to pay the price actively, but not passively. Therefore, his payment function (revenue) can reach the maximum value, and let and ;

[0043] Step 3: Update the maximum payload of the drone, i.e. , and the set of participants ,like or When , the algorithm ends; otherwise, execute the fourth step;

[0044] Step 4: Since The cargo of the user on the second floor is heavier or heavier than that of the When the number of users on the lower floors is small, The payment function of the user on the first floor is larger; vice versa. The minimum payment function (revenue) of floor users is

[0045]

[0046] Step 5: Select a collection The user with the maximum and minimum payment function (revenue) is the target floor user for the drone to deliver the goods, that is, ,make , return to step 3.

[0047] Accordingly, a multi-story drone delivery system based on maximizing the ratio of active to passive costs includes: an initialization module, a load-carrying capacity update module, and a target user selection module; the initialization module initializes the user set, the load-carrying capacity update module updates the maximum load-carrying capacity of the drone, and the target user selection module selects the user with the maximum and minimum payment function as the target floor user for the drone to deliver the goods.

Claims

1. A multi-story building drone delivery method based on maximizing the ratio of active to passive costs, characterized in that: The steps include: Step 1: Initialize the user collection ,like ,but , the algorithm ends; Otherwise, execute step 2; wherein, Gather participants, For the The weight of the cargo of the floor users, is the maximum payload of the drone; Step 2: Select the participant set The user on the lowest floor, i.e., the user on floor 1, is the target floor user for the drone to deliver goods. No matter how other users choose to deliver goods, the floor user only pays the price actively, but not passively. Therefore, the payment function reaches the maximum value and and ; Step 3: Update the maximum payload of the drone, i.e. , and the set of participants ,like or When , the algorithm ends; otherwise, execute step 4; Step 4: If The cargo of the user on the second floor is heavier or heavier than that on the first floor. When the number of goods transported by users on the lower floors is small, The payment function of the floor users is larger; vice versa; Step 5. Select a collection The user with the maximum and minimum payment function in is the target floor user for the drone to deliver the goods, that is ,make , return to step 3.

2. The multi-story building drone delivery method based on maximizing the ratio of active to passive costs as described in claim 1, characterized in that: In step 2, the active cost is defined as the energy consumption cost of the drone paid by the user to lift the weight of the cargo he needs to the height of the floor.

3. The multi-story building drone delivery method based on maximizing the ratio of active to passive costs as claimed in claim 1, characterized in that: In step 2, the passive cost is defined as the energy consumption cost incurred by the drone when delivering goods to users on other floors on the way to the user.

4. The multi-story building drone delivery method based on maximizing the ratio of active to passive costs as claimed in claim 1, characterized in that: In step 4, calculate The minimum payment function of the floor user is in, For the The weight of the cargo of the floor users, For the The weight of the cargo of the floor users, is the local gravitational acceleration, is the air density, and are the rotor area and the number of rotors respectively, is the flight speed of the drone, For the The height of the floor.

5. A system for implementing the multi-story drone delivery method based on maximizing the ratio of active to passive costs as described in claim 1, characterized in that: include: Initialization module, load update module and target user selection module; The initialization module initializes the user set, the load-carrying capacity update module updates the maximum load-carrying capacity of the drone, and the target user selection module selects the user with the maximum and minimum payment function as the target floor user for the drone to deliver the goods.

6. The multi-story drone delivery system based on maximizing the ratio of active to passive costs as claimed in claim 5, characterized in that: The initialization module initializes the user set. If the sum of the cargo weights of the users before the i-th floor is less than the drone's load capacity, the delivery is completed in one time and the algorithm ends.

7. The multi-story drone delivery system based on maximizing the ratio of active to passive costs as claimed in claim 5, characterized in that: Select the target user module to select the participant set The user on the lowest floor, i.e., the user on floor 1, is the target floor user for the drone to deliver goods. No matter how other users choose delivery, the floor user only pays active costs and no passive costs, so the payment function reaches the maximum value.

8. The multi-story drone delivery system based on maximizing the ratio of active to passive costs as claimed in claim 5, characterized in that: Jordi The cargo of the user on the second floor is heavier or heavier than that of the When the number of users on the lower floors is small, The payment function of the floor users is larger, and the target user selection module selects the user with the largest payment function as the target floor user for the drone to deliver the goods.

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