A multi-story building drone delivery method and delivery system based on maximizing the ratio of active to passive costs

Abstract

The present invention discloses a method and system for delivering goods by drone for multi-story buildings based on maximizing the ratio of active to passive cost. Specifically: Step 1, initialize the user set. If [conditions not specified], then [actions not specified], and the algorithm ends; otherwise, execute Step 2; Step 2, select the user on the lowest floor in the participant set as the target floor user for the drone to deliver goods, so that the payment function reaches the maximum value; Step 3, update the maximum load capacity of the drone and the participant set. If [conditions not specified] or [conditions not specified], the algorithm ends; otherwise, execute Step 4; Step 4, if the weight of the goods of the users on the [n]th floor is relatively large or the goods transportation of the users lower than the [n]th floor is less, the payment function of the users on the [n]th floor is relatively large; otherwise, vice versa; Step 5, select the user with the maximum minimum payment function in the set as the target floor user for the drone to deliver goods, and return to Step 3. The present invention delivers goods to users on different floors reasonably, considering not only its own cost but also the delivery costs of other users.

Description

Technical Field

[0001] The present invention relates to the technical field of drone delivery, and particularly to a multi-story building drone delivery method and system based on maximizing the ratio of active cost to passive cost. 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 the delivery scenarios for different floors, drone technology has demonstrated its unique advantages. Drones usually adopt a multi-rotor design, such as an eight-rotor aircraft, and are equipped with advanced devices such as a GPS automatic control navigation system and high-precision sensors. These devices enable drones to have multiple flight modes such as GPS automatic control navigation, fixed-point hovering, and manual control, ensuring 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 the safe and timely delivery of goods. For different floors, drones can flexibly adjust flight altitude and routes to quickly and accurately deliver packages. 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 terrains and deliver packages to the destination. How drones can reasonably deliver goods to users on these different floors is a key problem that urgently needs to be solved. Summary of the Invention

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

[0004] Technical Solution: A multi-story building drone delivery method based on maximizing the ratio of active cost to passive cost according to the present invention includes the following steps:

[0005] Step 1, initialize the user set , if , then , the algorithm ends; otherwise, execute Step 2; where is the set of participants, is the weight of the goods of the user on the st floor, is the maximum load capacity of the drone;

[0006] Step 2, select the user on the lowest floor in the set of participants , that is, the user on the first floor, as the target floor user for the drone to transport goods, the Regardless of how other users choose delivery, the users on a certain floor only have the cost they actively pay, and no cost they passively pay. Therefore, the payment function reaches its maximum value, and let and ;

[0007] Step 3: Update the maximum payload of the drone, that is , and the set of participants . If or , the algorithm ends; otherwise, execute Step 4;

[0008] Step 4: If the weight of the goods of the users on the th floor is relatively large or the transportation of the goods of the users lower than the th floor is less, the payment function of the users on the th floor is relatively large; vice versa;

[0009] Step 5: Select the user with the maximum minimum payment function in the set as the target floor user for the drone to deliver goods, that is . Let , and return to Step 3.

[0010] Furthermore, in Step 2, the actively paid cost is defined as the cost of the drone energy consumption paid by the user for the weight of the goods it needs to rise to the height of this floor.

[0011] Furthermore, in Step 2, the passively paid cost is defined as the cost of the drone energy consumption generated when delivering goods to other floor users on the path of delivering goods to this user.

[0012] Furthermore, in Step 4, calculate the minimum payment function of the users on the th floor as

[0013]

[0014] where, is the weight of the goods of the users on the th floor, is the weight of the goods of the users on the th floor, is the local acceleration of gravity, is the air density, and are the rotor area and the number of rotors respectively, is the flight speed of the drone, is the th floor height.

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

[0016] Furthermore, the initialization module initializes the user set. If the sum of the weights of the goods of the users before the i-th floor is less than the load capacity of the drone, it is delivered in one go and the algorithm ends.

[0017] Furthermore, the target user selection module selects the user in the participant set on the lowest floor, that is, the user on the first floor, as the target floor user for the drone to deliver goods. The user on the i-th floor only has the cost of active payment and no cost of passive payment regardless of how the other users choose the delivery. Therefore, the payment function reaches the maximum value.

[0018] Furthermore, if the weight of the goods of the user on the i-th floor is relatively large or the goods transported by the users lower than the i-th floor are less, the payment function of the user on the i-th floor is relatively large. The target user selection module selects the user with the maximum payment function as the target floor user for the drone to deliver goods.

[0019] Beneficial effects: Compared with the prior art, the present invention has the following remarkable advantages: The present invention takes into account that when the drone delivers goods to the users on a certain floor, the energy consumption cost paid by the user not only includes the energy consumption cost of the drone for the weight of the goods needed by the user to rise to the height of this floor, but also includes the energy consumption cost generated when the drone delivers goods to the users on other floors in the path of delivering goods to this user. It effectively solves the problem of delivering goods with different 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 flow diagram of the method of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0022] Suppose there are users on different floors in a unit of a multi-story building, and their set is denoted as . Moreover, users on different floors require goods with different weights. Denote the weight of the goods of the users on the th floor as . The airspeed of the drone is , and the height of a single floor is .

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

[0024]

[0025] where is the load of the drone, is the local acceleration due to gravity; 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. On the premise that the parameters of , , , and remain unchanged, it can be known that the greater the flight distance or the greater the load of the drone, the greater its flight energy consumption.

[0026] Since the drone delivers goods from the lower floors to the higher floors, the energy consumption cost paid by the drone for delivering goods to the users on a certain floor is divided into the active cost and the passive cost: among them, the active cost is defined as the energy consumption cost of the drone paid by the user for the weight of the goods it needs to rise to the height of this floor, and the passive cost is defined as the energy consumption cost generated when the drone delivers goods to the users on other floors during the delivery path to this user. The reason for the generation of the passive cost is that the drone provides goods transportation services for the users on multiple floors in a single delivery cycle. During the delivery path to the users on the higher floors, the drone inevitably needs to carry the goods of other lower floors. Therefore, the users on the higher floors need to pay the passive cost for the users lower than them. At the same time, it should be noted that the goods of the users on the higher floors are also transported in a single delivery cycle of the drone. However, since the drone does not pass through the users on the higher floors during the delivery process to the users on the lower floors, the users on the lower floors should not pay the cost for transporting the goods of the users on the higher floors.

[0027] Based on the above analysis, the active cost paid by the users on the th floor is

[0028]

[0029] Among them, is the height of the th floor.

[0030] The th floor users' passively paid cost is

[0031]

[0032] Also, due to the limited load capacity of the drone, if the total cargo load of users is greater than the maximum load capacity of the drone, when the drone delivers the required goods for the th floor users , otherwise .

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

[0034] 1) The participants are the set of users on each floor, that is, ;

[0035] 2) Users on each floor can choose their strategy set, that is, when the th floor users need the drone to deliver their required goods , otherwise ; and due to the limited load of the drone, there is a game strategy constraint as ;

[0036] 3) Since users on each floor hope that the drone delivers their own goods and at the same time reduce the passively paid cost for the drone to deliver goods for users lower than themselves, therefore, in this invention, the payment function (benefit) of the th floor users is defined as the ratio of their actively paid cost to the passively paid cost, that is,

[0037]

[0038] In particular, when , that is, when there is no cargo transportation for users lower than the th floor, the th floor users have no passively paid cost, so their payment function only includes their own actively paid cost .

[0039] In the game relationship, each floor user maximizes its objective function by setting its respective binary indicator variable The drone responds to the cargo transportation requests of each floor, searches for a new equilibrium point, and in the game, each floor user wants to maximize its payoff function.

[0040] As can be seen from the above modeling, since the strategy set is a binary indicator variable, if the exhaustive method is used for solving, it is necessary to calculate specific strategies, which greatly increases the computational complexity of the algorithm. Here, a low-complexity multi-floor drone delivery method is given.

[0041] Step 1: Initialize the set of users who can carry out cargo transportation , if , then , the algorithm ends; otherwise, go to Step 2;

[0042] Step 2: Select the user on the lowest floor (the user on floor 1) in the set of participants as the target floor user for the drone to transport goods. This is because the user on the floor only has the cost of taking the initiative to pay and no cost of passive payment regardless of how the other users choose to deliver goods. Therefore, its payoff function (reward) can reach the maximum value, and let and ;

[0043] Step 3: Update the maximum load capacity of the drone, that is , and the set of participants , if or when, the algorithm ends; otherwise, go to Step 4;

[0044] Step 4: Since if the cargo weight of the user on the floor is large or the cargo transportation of the users lower than the floor is small, the payoff function of the user on the floor is larger; vice versa. Therefore, calculate the minimum payoff function (reward) of the user on the floor as

[0045]

[0046] Step 5: Select the user in the set with the largest minimum payoff function (reward) as the target floor user for the drone to transport goods, that is , let , return to Step 3.

[0047] Correspondingly, a multi-story building drone delivery system based on maximizing the ratio of active to passive costs includes: an initialization module, a load capacity update module, and a target user selection module; the initialization module initializes the user set, the load capacity update module updates the maximum load capacity of the drone, and the target user selection module selects the user with the maximum minimum payment function as the target floor user for the drone to deliver 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 The active cost is defined as the energy cost paid by the drone for the weight of the goods that the user needs to rise to the height of the floor, and 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; 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 of the When the number of users on the lower floors is small, The payment function of the floor users is larger; 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 Height of the floor; 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. 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.

3. The multi-story drone delivery system based on maximizing the ratio of active to passive costs as described in claim 2, 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.

4. The multi-story drone delivery system based on maximizing the ratio of active to passive costs as described in claim 2, 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 to deliver goods, the floor user only pays active costs and no passive costs, so the payment function reaches the maximum value.

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