Unmanned aerial vehicle distribution path planning method, device and equipment

Abstract

The embodiment of the invention provides an unmanned aerial vehicle distribution path planning method, device and equipment, and the method comprises the steps: constructing a plurality of distribution paths according to a distribution region of an unmanned aerial vehicle and distribution points included in the distribution region; obtaining topographic data, coordinate information of a plurality of distribution points, cargo weight information of the plurality of distribution points, initial environment data and unmanned aerial vehicle initial state data; according to the coordinate information of each distribution point and the cargo weight information of each distribution point, screening an initial distribution path from the distribution paths based on a load near-point priority strategy; determining cost information of each initial distribution path according to an arrangement sequence of distribution points included in each screened initial distribution path, topographic data, coordinate information of each distribution point, cargo weight information of each distribution point, initial environment data and unmanned aerial vehicle initial state data; and determining a target distribution path according to the cost information of each initial distribution path. The optimal distribution efficiency of the unmanned aerial vehicle under the complex road condition is ensured, the energy consumption of the unmanned aerial vehicle is lowest, and the distribution is safer.

Description

Technical Field

[0001] This invention relates to the field of path planning technology and related technical fields, specifically to a method, apparatus, and equipment for drone delivery path planning. Background Technology

[0002] With the rapid development of drone technology, its applications in numerous fields (such as aerial photography, surveying, inspection, and logistics delivery) are becoming increasingly widespread. Specifically, in the field of logistics delivery technology, drones in a distribution center need to transport goods to multiple delivery points in complex environments; therefore, drone path planning is crucial.

[0003] Existing drone delivery route planning mainly relies on pre-setting. However, with the diversification and complexity of drone application scenarios, higher requirements are being placed on their environmental adaptability, flight safety, and intelligence, which traditional drone route planning can no longer meet.

[0004] Therefore, there is an urgent need for a drone delivery route planning method to achieve energy-saving and safe delivery in complex environments. Summary of the Invention

[0005] The embodiments described herein provide a method, apparatus, and device for drone delivery route planning, which addresses the problems existing in the prior art.

[0006] Firstly, based on the content of this disclosure, a method for planning drone delivery routes is provided, including:

[0007] Based on the delivery area of ​​the drone and the delivery points included in the delivery area, multiple delivery routes are constructed. The delivery route is a path to deliver goods to multiple delivery points, and the arrangement order of the delivery points is different in different delivery routes.

[0008] Acquire terrain data, coordinates of multiple delivery points, weight information of goods at multiple delivery points, initial environmental data, and initial state data of the drone;

[0009] Based on the coordinates and weight of goods at each delivery point, an initial delivery route is selected from the delivery routes using a weight-based proximity priority strategy.

[0010] Based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery route, the cost information of each initial delivery route is determined.

[0011] The target delivery route is determined based on the cost information of each initial delivery route.

[0012] In some embodiments of this disclosure, the step of selecting an initial delivery route from the delivery routes based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, using a weight proximity priority strategy, includes:

[0013] Based on the coordinates of each delivery point, determine the distance between each delivery point and the delivery origin.

[0014] Based on the distance information between each delivery point and the delivery origin and the weight information of the goods at each delivery point, an initial delivery route is selected from the delivery routes based on the load proximity priority strategy.

[0015] In some embodiments of this disclosure, determining the cost information of each initial delivery path based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery path includes:

[0016] Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, determine the energy consumption information of each initial delivery route.

[0017] Based on the arrangement order of delivery points, coordinate information of each delivery point, and preset flight speed of the drone in each selected initial delivery route, the flight time information of each initial delivery route is determined.

[0018] Based on the arrangement order of delivery points, coordinate information of each delivery point, and terrain data of each selected initial delivery route, the safety risk information of each initial delivery route is determined.

[0019] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, the path distance information of each initial delivery route is determined.

[0020] Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial status data of drones in each selected initial delivery route, the drone risk information of each initial delivery route is determined.

[0021] Based on the energy consumption, flight time, safety risk, path distance, and drone risk information of each initial delivery route, the cost information of each initial delivery route is determined.

[0022] In some embodiments of this disclosure, determining the energy consumption information of each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route includes:

[0023] Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, the sub-energy consumption information between two adjacent delivery points in each initial delivery route is determined.

[0024] Based on the sub-energy consumption information between two adjacent delivery points in each initial delivery route, the energy consumption information of each initial delivery route is determined.

[0025] In some embodiments of this disclosure, determining the flight time information of each initial delivery path based on the arrangement order of delivery points included in each selected initial delivery path, the coordinate information of each delivery point, and the preset flight speed of the drone includes:

[0026] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route;

[0027] Based on the sub-distance information between two adjacent delivery points in each initial delivery path and the preset flight speed of the drone, determine the sub-flight time information between two adjacent delivery points in each initial delivery path;

[0028] The flight time information for each initial delivery path is determined based on the sub-flight time information between two adjacent delivery points in each initial delivery path.

[0029] In some embodiments of this disclosure, determining the safety risk information of each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, and terrain data includes:

[0030] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, the sub-line segment between two adjacent delivery points in each initial delivery route is determined.

[0031] Based on the sub-segments between two adjacent delivery points in each initial delivery path, determine the coordinate information of multiple sampling points set at target intervals on the sub-segments.

[0032] Based on the relationship between the coordinate information of multiple sampling points set at target intervals on each sub-segment and the terrain data, the safety risk information of each initial delivery route is determined.

[0033] In some embodiments of this disclosure, determining the path distance information of each initial delivery path based on the arrangement order of delivery points and the coordinate information of each delivery point included in each selected initial delivery path includes:

[0034] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route;

[0035] Based on the sub-distance information between two adjacent delivery points in each initial delivery route, the path distance information of each initial delivery route is determined.

[0036] In some embodiments of this disclosure, determining the drone risk information for each initial delivery path based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial drone status data includes:

[0037] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route;

[0038] Based on the sub-distance information between two adjacent delivery points in each initial delivery route and the cargo weight information at each delivery point, determine the sub-power consumption information between two adjacent delivery points in each initial delivery route;

[0039] Based on the initial state data of the drones and the sub-power consumption information between two adjacent delivery points in each initial delivery path, the drone risk information for each initial delivery path is determined.

[0040] Secondly, according to the present disclosure, a drone delivery route planning device is provided, comprising:

[0041] The delivery route construction module is used to construct multiple delivery routes based on the delivery area of ​​the drone and the delivery points included in the delivery area. The delivery route is a path to deliver goods to multiple delivery points, and the arrangement order of the delivery points is different in different delivery routes.

[0042] The data acquisition module is used to acquire terrain data, coordinate information of multiple delivery points, weight information of goods at multiple delivery points, initial environmental data, and initial state data of the drone;

[0043] The initial delivery route filtering module is used to filter the initial delivery route from the delivery routes based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, and based on the load proximity priority strategy.

[0044] The cost information determination module is used to determine the cost information of each initial delivery path based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery path.

[0045] The target delivery route determination module is used to determine the target delivery route based on the cost information of each initial delivery route.

[0046] Thirdly, according to the present disclosure, a computer device is provided, comprising:

[0047] One or more processors;

[0048] Storage device for storing one or more programs.

[0049] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any of the first aspects.

[0050] The drone delivery path planning method, apparatus, and equipment provided in this disclosure construct multiple delivery paths based on the drone's delivery area and the delivery points included in the delivery area; acquire terrain data, coordinate information of multiple delivery points, cargo weight information of multiple delivery points, initial environmental data, and initial drone state data; based on the coordinate information and cargo weight information of each delivery point, and using a weight-based proximity priority strategy, select initial delivery paths from the delivery paths; determine the cost information of each initial delivery path based on the arrangement order of delivery points included in each selected initial delivery path, terrain data, coordinate information of each delivery point, cargo weight information of each delivery point, initial environmental data, and initial drone state data; and determine the target delivery path based on the cost information of each initial delivery path. First, based on the coordinate information and cargo weight information of each delivery point, and using a weight-based proximity priority strategy, initial delivery paths are selected from the delivery paths. Then, based on parameters such as terrain data, delivery point location information, cargo weight information of each delivery point, initial environmental data, and initial drone state data, the optimal drone delivery path is determined, ensuring optimal delivery efficiency, minimum drone energy consumption, and safer delivery under complex road conditions.

[0051] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure, wherein:

[0053] Figure 1 This is a flowchart illustrating a drone delivery route planning method provided in an embodiment of this disclosure;

[0054] Figure 2 This is a schematic diagram of the structure of a drone delivery route planning device provided in an embodiment of this disclosure;

[0055] Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure.

[0056] In the accompanying diagram, markers with the same last two digits correspond to the same elements. It should be noted that the elements in the diagram are schematic and not drawn to scale. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are also within the scope of protection of this disclosure.

[0058] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. It will be further understood that terms such as those defined in commonly used dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the specification and in the relevant art, and shall not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, the statement of “connecting” or “coupling” two or more parts together shall mean that these parts are directly joined together or joined through one or more intermediate components.

[0059] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0060] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0061] Furthermore, in all embodiments of this disclosure, terms such as “first” and “second” are used only to distinguish one component (or part of a component) from another component (or another part of a component).

[0062] In the description of this application, unless otherwise stated, "multiple" means two or more (including two), and similarly, "multiple groups" means two or more (including two groups).

[0063] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0064] Based on the problems existing in the prior art, this disclosure provides a drone delivery route planning method, applied to a cargo delivery system. Figure 1 This is a flowchart illustrating a drone delivery route planning method provided in an embodiment of this disclosure, as shown below. Figure 1 As shown, the specific process of the drone delivery route planning method includes:

[0065] S110, based on the delivery area of ​​the drone and the delivery points included in the delivery area.

[0066] The delivery route is the path used to deliver goods to multiple delivery points, and the order in which the delivery points are arranged is different in different delivery routes.

[0067] In a specific implementation, drone delivery is zoned delivery, with different delivery areas including multiple delivery points. Therefore, in the drone path planning method provided in this embodiment, the delivery area of ​​the drone is first obtained, and then the delivery points included in the delivery area can be determined based on the delivery area of ​​the drone, thereby constructing the delivery path.

[0068] For example, if the delivery area includes 3 delivery points, namely A1, A2 and A3, then the constructed delivery routes include 6 routes, namely route 1: A1-A2-A3, route 2: A1-A3-A2, route 3: A2-A1-A3, route 4: A2-A3-A1, route 5: A3-A1-A2, and route 6: A3-A2-A1.

[0069] S120: Acquire terrain data, coordinates of multiple delivery points, weight information of goods at multiple delivery points, initial environmental data, and initial state data of the UAV.

[0070] After determining the delivery area for the drone, the terrain data of the delivery area can be obtained, the coordinates of each delivery point included in the delivery area can be obtained, the weight of the goods delivered at each delivery point in this delivery mission can be obtained, the current initial environmental data can be obtained, and the initial state data of the drone can also be obtained.

[0071] Specifically, before constructing the delivery route, image information of different delivery areas can be collected by drones equipped with multispectral cameras (visible light + infrared). Then, the cargo delivery system processes and analyzes the image information of different delivery areas collected by the drones through an improved U-Net model to generate high-precision three-dimensional terrain data. The terrain data of different delivery areas is stored in the database. Before determining the target delivery route, the terrain data of different delivery areas can be obtained from the database.

[0072] Specifically, the goods delivery system can obtain the coordinate information of different delivery points in each delivery area from the order system. i (x i ,y i ,z i ) and delivery point cargo weight information M i This allows for the determination of distance information between different delivery points and the distribution center within the same delivery area, d io For delivery point D i (x i ,y i ,z i ) and distribution center D o (x o ,y o ,z o Distance information, and cargo weight information M at different delivery points within the same delivery area. i Define the load factor λ j =M j / M max (M max (This refers to the maximum weight of goods among multiple delivery points in the same delivery area), where n is the number of delivery points in the same delivery area, i∈n, j∈n.

[0073] Specifically, the cargo delivery system can communicate with meteorological data terminal equipment to obtain meteorological data from the equipment and determine the meteorological data of the drone before delivery. The meteorological data includes: wind speed v w Wind direction θ w And air pressure P, etc.

[0074] Specifically, before instructing drones to deliver goods, the cargo delivery system acquires initial status data for each drone, including battery level and other parameters.

[0075] S130. Based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, and using the load proximity priority strategy, select the initial delivery route from the delivery routes.

[0076] In the specific implementation, based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, an initial delivery route is selected from the delivery routes based on the load proximity priority strategy. This includes: determining the distance information between each delivery point and the delivery start point based on the coordinate information of each delivery point; and selecting the initial delivery route from the delivery routes based on the distance information between each delivery point and the delivery start point and the weight information of the goods at each delivery point, based on the load proximity priority strategy.

[0077] After obtaining the coordinate information of multiple delivery points in step S120, the distance information (three-dimensional Euclidean distance) between different delivery points in the same delivery area and the delivery center (i.e., the delivery starting point) is constructed. Delivery point D i (x i ,y i ,z i The distance information between (x0, y0, z0) and the distribution center D0(x0, y0, z0) is as follows: Then, based on the weight information of the goods at each delivery point, the delivery points are sorted from heaviest to lightest to determine the initial layout order. Then, based on the distance information between each delivery point and the delivery start point, the initial layout order of the delivery points is adjusted to obtain the target layout order of the delivery points. The delivery path corresponding to the target layout order of the delivery points is the selected initial delivery path.

[0078] Since the delivery area includes multiple delivery points, there may be issues such as identical cargo weight information at one or more delivery points, as well as identical distance information between the delivery point and the delivery origin. Therefore, the determined initial delivery route may include multiple routes.

[0079] For example, if the delivery area includes three delivery points, namely A1, A2 and A3, the constructed delivery paths are respectively: Path 1: A1-A2-A3, Path 2: A1-A3-A2, Path 3: A2-A1-A3, Path 4: A2-A3-A1, Path 5: A3-A1-A2, Path 6: A3-A2-A1. The weight information of the goods delivered at delivery point A1 is greater than that of delivery points A2 and A3. If the weight information of the goods delivered at delivery points A2 and A3 is the same, and the distance information between delivery point A2 and the delivery starting point is the same as that between delivery point A3 and the delivery starting point, then the determined initial delivery paths are respectively: Path 1: A1-A2-A3, Path 2: A1-A3-A2.

[0080] It should be noted that the above embodiments exemplify that the delivery area includes 3 delivery points. In actual application scenarios, a delivery area may include multiple delivery points. Therefore, there may be multiple determined initial delivery routes. This disclosure does not provide specific details on this.

[0081] S140. Based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery path, determine the cost information of each initial delivery path.

[0082] In a specific implementation, the cost information of each initial delivery path is determined based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV. This includes: determining the energy consumption information of each initial delivery path based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data; determining the flight time information of each initial delivery path based on the arrangement order of delivery points, coordinate information of each delivery point, and the preset flight speed of the UAV; and determining the cost information of each initial delivery path based on the arrangement order of delivery points, coordinate information of each delivery point, and the preset flight speed of the UAV. The initial delivery routes include the order of delivery points, coordinates of each delivery point, and terrain data to determine the safety risk information of each initial delivery route; based on the order of delivery points and coordinates of each delivery point in the selected initial delivery routes, the path distance information of each initial delivery route is determined; based on the order of delivery points, coordinates of each delivery point, cargo weight information at each delivery point, and initial drone status data in the selected initial delivery routes, the drone risk information of each initial delivery route is determined; based on the energy consumption, flight time, safety risk, path distance, and drone risk information of each initial delivery route, the cost information of each initial delivery route is determined.

[0083] Specifically, the cost information for each initial delivery route satisfies:

[0084] minJ = w1E + w2T + w3S + w4D + w5R

[0085] Wherein, J represents the cost information of an initial delivery route, E represents the energy consumption information of an initial delivery route, T represents the flight time information of an initial delivery route, S represents the safety risk information of an initial delivery route, D represents the path distance information of an initial delivery route, R represents the drone risk information of an initial delivery route, w1 represents the weighting parameter of energy consumption information, w2 represents the weighting parameter of flight time information, w3 represents the weighting parameter of safety risk information, w4 represents the weighting parameter of path distance information, and w5 represents the weighting parameter of drone risk information.

[0086] Specifically, based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, the energy consumption information of each initial delivery route is determined, including: determining the sub-energy consumption information between two adjacent delivery points in each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data; and determining the energy consumption information of each initial delivery route based on the sub-energy consumption information between two adjacent delivery points in each initial delivery route.

[0087] The sub-energy consumption information between two adjacent sub-delivery points satisfies:

[0088]

[0089] Among them, E ij For sub-energy consumption information between delivery point i and delivery point j, f(v w )=1+0.2×|v w -v opt |,v w For the wind speed in the initial environmental data to be obtained, v opt The optimal airspeed of the drone (a preset value), g(h) i )=1+0.1×|Δh ij / d ij |,Δh ij Let d be the elevation difference between delivery point i and delivery point j (which can be determined based on terrain data). ij For the distance information between delivery point i and delivery point j, λ i Let λ be the load factor of delivery point i. j =M j / M max M j For the weight information of goods at delivery point i, M max This refers to the maximum weight of goods among multiple delivery points in the same delivery area, where k1 and k2 are preset values.

[0090] It should be noted that the first delivery point in each initial delivery route calculates the sub-energy consumption information between the first delivery point and the delivery start point, i.e., Δh. 10 d represents the elevation difference between delivery point 1 and delivery origin 0. 10 This provides distance information between delivery point 1 and delivery origin point 0.

[0091] After calculating the sub-energy consumption information between two adjacent sub-delivery points in each initial delivery path, the calculated sub-energy consumption information between two adjacent sub-delivery points in each initial delivery path is summed to obtain the energy consumption information of each initial delivery path.

[0092] Specifically, if the determined initial delivery routes are Path 1: A1-A2-A3 and Path 2: A1-A3-A2, taking the calculation of energy consumption information for Path 1 as an example, firstly, based on the coordinates of delivery point A1 and the coordinates of the delivery starting point, the distance information d between delivery point A1 and the delivery starting point is determined. 10 Thus, g(h) is determined. i ), and determine f(v) based on the collected wind speed. w Based on the weight information of the goods at delivery point A1, the load factor λ1 of delivery point A1 is determined. Then, based on the relationship between the sub-energy consumption information of two adjacent sub-delivery points, the sub-energy consumption information E of the drone between delivery point A1 and the delivery starting point is determined. 10 Similarly, calculate the sub-energy consumption information E of the drone between delivery point A1 and delivery point A2. 21 Energy consumption information E of the drone between delivery point A3 and delivery point A2 31 Then, the sub-energy consumption information E of the drone between delivery point A1 and delivery origin point is collected. 10 Energy consumption information E of the drone between delivery point A1 and delivery point A2 21 Energy consumption information E of the drone between delivery point A3 and delivery point A2 31 Summing these values ​​yields the energy consumption information E for path 1 in the initial delivery route.

[0093] Similarly, calculate the energy consumption information for path 2 in the initial delivery route.

[0094] In the specific implementation, the flight time information of each initial delivery path is determined based on the arrangement order of delivery points included in each selected initial delivery path, the coordinate information of each delivery point, and the preset flight speed of the drone. This includes: determining the sub-distance information between two adjacent delivery points in each initial delivery path based on the arrangement order of delivery points included in each selected initial delivery path and the coordinate information of each delivery point; determining the sub-flight time information of the drone between two adjacent delivery points in each initial delivery path based on the sub-distance information between two adjacent delivery points in each initial delivery path and the preset flight speed of the drone; and determining the total flight time information of each initial delivery path based on the sub-flight time information of the drone between two adjacent delivery points in each initial delivery path.

[0095] Specifically, if the determined initial delivery paths are Path 1: A1-A2-A3 and Path 2: A1-A3-A2, taking the calculation of the flight time information of Path 1 in the initial delivery path as an example, firstly, based on the coordinate information of the delivery point A1 and the coordinate information of the delivery start point, the sub-distance information between the delivery point A1 and the delivery start point is determined. Then, based on the sub-distance information between the delivery point A1 and the delivery start point and the preset flight speed of the drone, the sub-flight time information T10 of the drone between the delivery point A1 and the delivery start point is determined. Similarly, the sub-flight time information T21 of the drone between the delivery point A1 and the delivery point A2, and the sub-flight time information T32 of the drone between the delivery point A3 and the delivery point A2 are calculated. Then, the sub-flight time information T10 of the drone between the delivery point A1 and the delivery start point, the sub-flight time information T21 of the drone between the delivery point A1 and the delivery point A2, and the sub-flight time information T32 of the drone between the delivery point A3 and the delivery point A2 are summed to obtain the flight time information T1 of Path 1 in the initial delivery path.

[0096] Similarly, calculate the flight time information T2 for path 2 in the initial delivery route.

[0097] In the specific implementation, the safety risk information of each initial delivery route is determined based on the arrangement order of delivery points, the coordinate information of each delivery point, and the terrain data. This includes: determining the sub-segment between two adjacent delivery points in each initial delivery route based on the arrangement order and coordinate information of the delivery points in each initial delivery route; determining the coordinate information of multiple sampling points set at target intervals on the sub-segment based on the sub-segment between two adjacent delivery points in each initial delivery route; and determining the safety risk information of each initial delivery route based on the relationship between the coordinate information of the multiple sampling points set at target intervals on each sub-segment and the terrain data.

[0098] Specifically, if the determined initial delivery paths are Path 1: A1-A2-A3 and Path 2: A1-A3-A2, taking the calculation of the safety risk information of Path 1 in the initial delivery path as an example, firstly, based on the coordinate information of the delivery point A1 and the coordinate information of the delivery start point, the sub-segment L1 between the delivery point A1 and the delivery start point is determined. Then, the sub-segment L1 is divided into multiple sampling points according to the target interval, and the coordinate information of each sampling point is obtained. Finally, by comparing the relationship between each sampling point and the terrain data (the terrain data is known, the terrain coordinates corresponding to the position of the sub-segment L1 are known, and the distance between each sampling point on the sub-segment L1 and the terrain coordinates is compared), the sub-safety risk information of each sub-segment is determined. The sub-safety risk information of the sub-segments included in each initial delivery path is added together and the average value is calculated to obtain the safety risk information S1 of Path 1 in the initial delivery path.

[0099] Similarly, calculate the safety risk information S2 of path 2 in the initial delivery route.

[0100] In the specific implementation, the path distance information of each initial delivery path is determined based on the arrangement order of the delivery points included in each selected initial delivery path and the coordinate information of each delivery point. This includes: determining the sub-distance information between two adjacent delivery points in each initial delivery path based on the arrangement order of the delivery points included in each selected initial delivery path and the coordinate information of each delivery point; and determining the path distance information of each initial delivery path based on the sub-distance information between two adjacent delivery points in each initial delivery path.

[0101] Specifically, if the determined initial delivery paths are Path 1: A1-A2-A3 and Path 2: A1-A3-A2, taking the calculation of the path distance information of Path 1 in the initial delivery path as an example, based on the coordinate information of delivery point A1 and the coordinate information of the delivery starting point, the sub-distance information D10 between delivery point A1 and the delivery starting point is determined. Similarly, the sub-distance information D21 between the drone and delivery point A1 and delivery point A2, and the sub-distance information D32 between the drone and delivery point A3 are calculated. Then, the sub-distance information D10 between the drone and delivery point A1 and the delivery starting point, the sub-distance information D21 between the drone and the drone and delivery point A2, and the sub-distance information D32 between the drone and delivery point A3 are summed to obtain the path distance information D1 of Path 1 in the initial delivery path.

[0102] Similarly, calculate the path distance information D2 for path 2 in the initial delivery route.

[0103] In the specific implementation, the drone risk information for each initial delivery path is determined based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial drone status data. This includes: determining the sub-distance information between two adjacent delivery points in each initial delivery path based on the arrangement order and coordinate information of delivery points; determining the sub-power consumption information between two adjacent delivery points in each initial delivery path based on the sub-distance information and weight information of goods at each delivery point; and determining the drone risk information for each initial delivery path based on the initial drone status data and the sub-power consumption information between two adjacent delivery points.

[0104] The initial state data of the drone includes the drone's battery information. The drone's battery consumption is related to the length of the drone's delivery path and the weight of the drone's cargo. By calculating the battery consumption of the drone when delivering cargo according to each initial delivery path under the initial state data, the drone's risk information can be determined.

[0105] Specifically, if the determined initial delivery paths are Path 1: A1-A2-A3 and Path 2: A1-A3-A2, taking the calculation of the path distance information of Path 1 in the initial delivery paths as an example, based on the coordinate information of delivery point A1 and the coordinate information of the delivery starting point, the sub-distance information D10 between delivery point A1 and the delivery starting point is determined. Then, based on the sub-distance information between two adjacent delivery points in each initial delivery path and the weight information of the goods at each delivery point, the sub-power consumption information P10 of the drone between two adjacent delivery points in each initial delivery path is determined. Similarly, the power consumption information P10 of the drone between delivery point A1 and the delivery starting point is calculated. The power consumption information P21 between delivery point A2 and delivery point A3 is calculated, and the power consumption information P32 between delivery point A3 and delivery point A2 is calculated. Then, the power consumption information P10 between delivery point A1 and delivery start point, the power consumption information P21 between human and machine between delivery point A1 and delivery point A2, and the power consumption information P21 between delivery point A3 and delivery point A2 are summed to obtain the power consumption information P1 of path 1 in the initial delivery path. Finally, based on the relationship between the initial state data of the drone and the power consumption information P1 of path 1 in the initial delivery path, the drone risk information R1 of path 1 in the initial delivery path is determined.

[0106] Similarly, calculate the drone risk information R2 for path 2 in the initial delivery route.

[0107] After the above steps, energy consumption information, flight time information, safety risk information, path distance information, and drone risk information of each initial delivery path are obtained. By weighted summing of the energy consumption information, flight time information, safety risk information, path distance information, and drone risk information of each initial delivery path, the cost information of each initial delivery path is obtained.

[0108] S150. Determine the target delivery route based on the cost information of each initial delivery route.

[0109] After obtaining the cost information of each initial delivery path, the initial delivery path with the lowest cost information is selected as the target delivery path. The target delivery path is then sent to the drone so that the drone can deliver goods to the delivery points in the delivery area.

[0110] The drone delivery path planning method provided in this disclosure constructs multiple delivery paths based on the drone's delivery area and the delivery points included in the delivery area; acquires terrain data, coordinate information of multiple delivery points, cargo weight information of multiple delivery points, initial environmental data, and initial drone state data; selects initial delivery paths from the delivery paths based on the coordinate information and cargo weight information of each delivery point, using a weight-based proximity priority strategy; determines the cost information of each initial delivery path based on the arrangement order of delivery points, terrain data, coordinate information, cargo weight information, initial environmental data, and initial drone state data; and determines the target delivery path based on the cost information of each initial delivery path. First, initial delivery paths are selected from the delivery paths based on the coordinate information and cargo weight information of each delivery point, using a weight-based proximity priority strategy. Then, based on parameters such as terrain data, delivery point location information, cargo weight information, initial environmental data, and initial drone state data, the optimal drone delivery path is determined, ensuring optimal delivery efficiency, minimum drone energy consumption, and safer delivery under complex road conditions.

[0111] Based on the above embodiments, Figure 2 This is a schematic diagram of the structure of a drone delivery route planning device provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, the drone delivery route planning device includes:

[0112] The delivery route construction module 210 is used to construct multiple delivery routes based on the delivery area of ​​the drone and the delivery points included in the delivery area. The delivery route is a path to deliver goods to multiple delivery points, and the arrangement order of the delivery points is different in different delivery routes.

[0113] The data acquisition module 220 is used to acquire terrain data, coordinate information of multiple delivery points, weight information of goods at multiple delivery points, initial environmental data, and initial state data of the UAV;

[0114] The initial delivery route filtering module 230 is used to filter the initial delivery route from the delivery routes based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, and based on the load proximity priority strategy.

[0115] The cost information determination module 240 is used to determine the cost information of each initial delivery path based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery path.

[0116] The target delivery route determination module 250 is used to determine the target delivery route based on the cost information of each initial delivery route.

[0117] The drone delivery path planning device provided in this embodiment constructs multiple delivery paths based on the drone's delivery area and the delivery points included in the delivery area; acquires terrain data, coordinate information of multiple delivery points, cargo weight information of multiple delivery points, initial environmental data, and initial drone state data; selects initial delivery paths from the delivery paths based on the coordinate information and cargo weight information of each delivery point, using a weight-based proximity priority strategy; determines the cost information of each initial delivery path based on the arrangement order of delivery points included in each selected initial delivery path, terrain data, coordinate information of each delivery point, cargo weight information of each delivery point, initial environmental data, and initial drone state data; and determines the target delivery path based on the cost information of each initial delivery path. First, based on the coordinate information and cargo weight information of each delivery point, initial delivery paths are selected from the delivery paths using a weight-based proximity priority strategy. Then, based on parameters such as terrain data, delivery point location information, cargo weight information of each delivery point, initial environmental data, and initial drone state data, the optimal drone delivery path is determined, ensuring optimal delivery efficiency, minimum drone energy consumption, and safer delivery under complex road conditions.

[0118] In a specific implementation, the step of selecting an initial delivery route from the delivery routes based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, using a weight proximity priority strategy, includes:

[0119] Based on the coordinates of each delivery point, determine the distance between each delivery point and the delivery origin.

[0120] Based on the distance information between each delivery point and the delivery origin and the weight information of the goods at each delivery point, an initial delivery route is selected from the delivery routes based on the load proximity priority strategy.

[0121] In a specific implementation, the step of determining the cost information of each initial delivery path based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery path includes:

[0122] Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, determine the energy consumption information of each initial delivery route.

[0123] Based on the arrangement order of delivery points, coordinate information of each delivery point, and preset flight speed of the drone in each selected initial delivery route, the flight time information of each initial delivery route is determined.

[0124] Based on the arrangement order of delivery points, coordinate information of each delivery point, and terrain data of each selected initial delivery route, the safety risk information of each initial delivery route is determined.

[0125] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, the path distance information of each initial delivery route is determined.

[0126] Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial status data of drones in each selected initial delivery route, the drone risk information of each initial delivery route is determined.

[0127] Based on the energy consumption, flight time, safety risk, path distance, and drone risk information of each initial delivery route, the cost information of each initial delivery route is determined.

[0128] In a specific implementation, determining the energy consumption information of each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data includes:

[0129] Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, the sub-energy consumption information between two adjacent delivery points in each initial delivery route is determined.

[0130] Based on the sub-energy consumption information between two adjacent delivery points in each initial delivery route, the energy consumption information of each initial delivery route is determined.

[0131] In a specific implementation, determining the flight time information of each initial delivery route based on the arrangement order of delivery points included in each selected initial delivery route, the coordinate information of each delivery point, and the preset flight speed of the drone includes:

[0132] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route;

[0133] Based on the sub-distance information between two adjacent delivery points in each initial delivery path and the preset flight speed of the drone, determine the sub-flight time information between two adjacent delivery points in each initial delivery path;

[0134] The flight time information for each initial delivery route is determined based on the sub-flight time information between two adjacent delivery points in each initial delivery route.

[0135] In a specific implementation, determining the safety risk information of each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, and terrain data includes:

[0136] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, the sub-line segment between two adjacent delivery points in each initial delivery route is determined.

[0137] Based on the sub-segments between two adjacent delivery points in each initial delivery path, determine the coordinate information of multiple sampling points set at target intervals on the sub-segments.

[0138] Based on the relationship between the coordinate information of multiple sampling points set at target intervals on each sub-segment and the terrain data, the safety risk information of each initial delivery route is determined.

[0139] In a specific implementation, determining the path distance information of each initial delivery route based on the arrangement order of delivery points and the coordinate information of each delivery point in the selected initial delivery routes includes:

[0140] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route;

[0141] Based on the sub-distance information between two adjacent delivery points in each initial delivery route, the path distance information of each initial delivery route is determined.

[0142] In a specific implementation, determining the drone risk information for each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial drone status data includes:

[0143] Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route;

[0144] Based on the sub-distance information between two adjacent delivery points in each initial delivery route and the cargo weight information at each delivery point, determine the sub-power consumption information between two adjacent delivery points in each initial delivery route;

[0145] Based on the initial state data of the drones and the sub-power consumption information between two adjacent delivery points in each initial delivery path, the drone risk information for each initial delivery path is determined.

[0146] This application also provides a computer device, please refer to the following for details. Figure 3 , Figure 3This is a basic structural block diagram of the computer device in this embodiment.

[0147] The computer device includes a memory 510 and a processor 520 that are interconnected via a system bus. It should be noted that only a computer device with components 510-520 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components may be implemented alternatively. Those skilled in the art will understand that the computer device described herein is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0148] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0149] The memory 510 includes at least one type of readable storage medium, including non-volatile memory or volatile memory, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. RAM may include static RAM or dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as the hard disk or memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card equipped on the computer device. Of course, the memory 510 may include both internal storage units and external storage devices of the computer device. In this embodiment, the memory 510 is typically used to store the operating system and various application software installed on the computer device, such as the program code of the method described above. In addition, the memory 510 may also be used to temporarily store various types of data that have been output or will be output.

[0150] The processor 520 is typically used to perform the overall operation of a computer device. In this embodiment, the memory 510 is used to store program code or instructions, including computer operation instructions. The processor 520 is used to execute the program code or instructions stored in the memory 510 or to process data, such as program code that runs the methods described above.

[0151] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus system can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0152] Another embodiment of this application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads computer-readable program code stored in the computer-readable medium, enabling the processor to execute the functional actions specified in each step or combination of steps in the above method; and to generate means for implementing the functional actions specified in each block or combination of blocks in the block diagram.

[0153] Computer-readable media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any suitable combination thereof, wherein the memory is used to store program code or instructions, the program code including computer operation instructions, and the processor is used to execute the program code or instructions of the above-described methods stored in the memory.

[0154] The definitions of memory and processor can be found in the description of the foregoing computer device embodiments, and will not be repeated here.

[0155] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0156] In the various embodiments of this application, the functional units or modules can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0157] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] Unless otherwise expressly indicated by the context, the singular form of words used herein and in the appended claims includes the plural form, and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the terms “comprising” and “including” shall be interpreted as including rather than exclusively. Likewise, the terms “including” and “or” shall be interpreted as including unless such interpretation is expressly prohibited herein. Where the term “example” is used herein, particularly when it follows a set of terms, the “example” is merely exemplary and illustrative and should not be considered exclusive or extensive.

[0159] Further aspects and scope of adaptation become apparent from the description provided herein. It should be understood that various aspects of this application may be implemented individually or in combination with one or more other aspects. It should also be understood that the descriptions and specific embodiments herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0160] Several embodiments of this disclosure have been described in detail above. However, it is obvious that those skilled in the art can make various modifications and variations to the embodiments of this disclosure without departing from the spirit and scope of this disclosure. The scope of protection of this disclosure is defined by the appended claims.

Claims

1. A method for planning delivery routes using unmanned aerial vehicles (UAVs), characterized in that, include: Based on the delivery area of ​​the drone and the delivery points included in the delivery area, multiple delivery routes are constructed. The delivery route is a path to deliver goods to multiple delivery points, and the arrangement order of the delivery points is different in different delivery routes. Acquire terrain data, coordinates of multiple delivery points, weight information of goods at multiple delivery points, initial environmental data, and initial state data of the drone; Based on the coordinates and weight of goods at each delivery point, an initial delivery route is selected from the delivery routes using a weight-based proximity priority strategy. Based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery route, the cost information of each initial delivery route is determined. The target delivery route is determined based on the cost information of each initial delivery route.

2. The method according to claim 1, characterized in that, The initial delivery route is selected from the delivery routes based on the coordinate information and cargo weight information of each delivery point, using a weight proximity priority strategy. This includes: Based on the coordinates of each delivery point, determine the distance between each delivery point and the delivery origin. Based on the distance information between each delivery point and the delivery origin and the weight information of the goods at each delivery point, an initial delivery route is selected from the delivery routes based on the load proximity priority strategy.

3. The method according to claim 1, characterized in that, The cost information for each initial delivery path is determined based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV, including: Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, determine the energy consumption information of each initial delivery route. Based on the arrangement order of delivery points, coordinate information of each delivery point, and preset flight speed of the drone in each selected initial delivery route, the flight time information of each initial delivery route is determined. Based on the arrangement order of delivery points, coordinate information of each delivery point, and terrain data of each selected initial delivery route, the safety risk information of each initial delivery route is determined. Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, the path distance information of each initial delivery route is determined. Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial status data of drones in each selected initial delivery route, the drone risk information of each initial delivery route is determined. Based on the energy consumption, flight time, safety risk, path distance, and drone risk information of each initial delivery route, the cost information of each initial delivery route is determined.

4. The method according to claim 3, characterized in that, The energy consumption information for each initial delivery route is determined based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data. This includes: Based on the arrangement order of delivery points, coordinate information of each delivery point, weight information of goods at each delivery point, and initial environmental data of each selected initial delivery route, the sub-energy consumption information between two adjacent delivery points in each initial delivery route is determined. Based on the sub-energy consumption information between two adjacent delivery points in each initial delivery route, the energy consumption information of each initial delivery route is determined.

5. The method according to claim 3, characterized in that, The process of determining the flight time information for each initial delivery route based on the arrangement order of delivery points, the coordinates of each delivery point, and the preset flight speed of the drone includes: Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route; Based on the sub-distance information between two adjacent delivery points in each initial delivery path and the preset flight speed of the drone, determine the sub-flight time information between two adjacent delivery points in each initial delivery path; The flight time information for each initial delivery route is determined based on the sub-flight time information between two adjacent delivery points in each initial delivery route.

6. The method according to claim 3, characterized in that, The process involves determining the safety risk information for each initial delivery route based on the arrangement order of delivery points, coordinate information of each delivery point, and terrain data. This includes: Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, the sub-line segment between two adjacent delivery points in each initial delivery route is determined. Based on the sub-segments between two adjacent delivery points in each initial delivery path, determine the coordinate information of multiple sampling points set at target intervals on the sub-segments. Based on the relationship between the coordinate information of multiple sampling points set at target intervals on each sub-segment and the terrain data, the safety risk information of each initial delivery route is determined.

7. The method according to claim 3, characterized in that, The step of determining the path distance information for each initial delivery route based on the arrangement order of delivery points and the coordinate information of each delivery point in the selected initial delivery routes includes: Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route; Based on the sub-distance information between two adjacent delivery points in each initial delivery route, the path distance information of each initial delivery route is determined.

8. The method according to claim 3, characterized in that, The process involves determining the drone risk information for each initial delivery route based on the order of delivery points, coordinates of each delivery point, weight of goods at each delivery point, and initial drone status data. This includes: Based on the arrangement order of delivery points and the coordinate information of each delivery point in each selected initial delivery route, determine the sub-distance information between two adjacent delivery points in each initial delivery route; Based on the sub-distance information between two adjacent delivery points in each initial delivery route and the cargo weight information at each delivery point, determine the sub-power consumption information between two adjacent delivery points in each initial delivery route; Based on the initial state data of the drones and the sub-power consumption information between two adjacent delivery points in each initial delivery path, the drone risk information for each initial delivery path is determined.

9. A drone delivery route planning device, characterized in that, include: The delivery route construction module is used to construct multiple delivery routes based on the delivery area of ​​the drone and the delivery points included in the delivery area. The delivery route is a path to deliver goods to multiple delivery points, and the arrangement order of the delivery points is different in different delivery routes. The data acquisition module is used to acquire terrain data, coordinate information of multiple delivery points, weight information of goods at multiple delivery points, initial environmental data, and initial state data of the drone; The initial delivery route filtering module is used to filter the initial delivery route from the delivery routes based on the coordinate information of each delivery point and the weight information of the goods at each delivery point, and based on the load proximity priority strategy. The cost information determination module is used to determine the cost information of each initial delivery path based on the arrangement order of delivery points, terrain data, coordinate information of each delivery point, weight information of goods at each delivery point, initial environmental data, and initial state data of the UAV included in each selected initial delivery path. The target delivery route determination module is used to determine the target delivery route based on the cost information of each initial delivery route.

10. A computer device, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors perform the method as described in any one of 1-8.

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