A vehicle positioning-based unattended flow vehicle system and a control method thereof

Abstract

The application relates to the technical field of unmanned logistics management, and particularly discloses an unmanned logistics vehicle system based on vehicle positioning and a control method thereof, which comprises a pickup person management system. The pickup person management system collects pickup habit data of a pickup person in a last pickup period and obtains a second pickup coefficient based on the pickup habit data. Then, the distribution path of the logistics vehicle is adjusted according to the pickup coefficient, so that the first logistics vehicle where the express delivery of the pickup person meeting a preset condition is located meets the second logistics vehicle before going to the next station. The second logistics vehicle continues to complete a waiting time at the current station after the first logistics vehicle completes the waiting time. Through data analysis and process adjustment, the application helps a small part of users who are not punctual enough in picking up, avoids the phenomenon that the part of users chases the logistics vehicle body, guarantees safety, and improves the use experience of the part of users.

Description

Technical Field

[0001] This invention relates to the field of unmanned logistics management technology, specifically to an unmanned logistics vehicle system based on vehicle positioning and its control method. Background Technology

[0002] Unmanned delivery vehicles are typically used in densely populated delivery areas. These vehicles are equipped with multiple storage lockers controlled by passwords, and recipients complete the pickup by entering a password via an app. The advantages include flexible pickup options, allowing users to choose the pickup time and location to some extent. Furthermore, unmanned delivery vehicles can alleviate pressure on pickup stations and reduce the number of stations in densely populated delivery areas.

[0003] Currently, most unmanned delivery vehicles operate within campuses. During delivery, a waiting time is set, during which the vehicle stops at a designated location to await pickup. The problem lies in the varying pickup habits of different individuals. After receiving a pickup notification, some pickups arrive at the designated location within the waiting time and retrieve their packages from the vehicle. However, some (approximately 0-2% of the total) occasionally fail to arrive within the waiting time and often need to rely on map information to locate the vehicle, resulting in a poor pickup experience. While increasing the waiting time could solve this problem, it would disrupt the original delivery schedule of the unmanned delivery vehicles.

[0004] In view of this, the present invention proposes an unmanned logistics vehicle system and its control method based on vehicle positioning. Without affecting the original delivery plan of the unmanned logistics vehicle, the system optimizes the management process of the unmanned logistics vehicle to adapt to people with different pickup habits, so that some people who are prone to being late can have a better pickup experience. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned logistics vehicle system and its control method based on vehicle positioning, and to solve the following technical problems:

[0006] How can we optimize the management process of unmanned logistics vehicles without affecting their original delivery plans, adapt to different pickup habits, and provide a better pickup experience for those who are prone to being late?

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] An unmanned logistics vehicle system based on vehicle positioning includes:

[0009] The logistics vehicle module includes a logistics vehicle body and a control unit that controls the logistics vehicle body to perform the express delivery process. The express delivery process includes movement time and waiting time. During the waiting time, the logistics vehicle body stays at a preset station. The logistics vehicle body is equipped with a temporary storage room. The area management module includes an information acquisition unit and an area division unit. The information acquisition unit acquires pickup data from all preset stations within the area within a sampling period. The area division unit obtains a first pickup coefficient based on the pickup data, and then divides the current area into several partitions based on the first pickup coefficient, placing the preset station with the highest first pickup coefficient in each partition at the designated location. The system includes: a regional center; a pickup management system, which collects pickup habit data of pickupers in the previous pickup cycle and obtains a second pickup coefficient based on the pickup habit data. Then, it adjusts the delivery route of the logistics vehicles according to the pickup coefficient so that the first logistics vehicle containing the express delivery of a pickuper who meets the preset conditions meets the second logistics vehicle before heading to the next station. After the first logistics vehicle completes its waiting time, the second logistics vehicle continues to complete one waiting time at the current station; and a transfer module, which is used to transfer the corresponding express delivery in the first logistics vehicle to the second logistics vehicle when the first logistics vehicle meets the second logistics vehicle and the first logistics vehicle contains express delivery that has not been picked up in the previous waiting time.

[0010] The above technical solution provides a way to manage the logistics status within a region using a first and second logistics vehicle. Through data analysis and process adjustments, it assists a small number of users who are not punctual in picking up their packages, preventing them from chasing after the logistics vehicle itself, thus ensuring safety while improving the user experience for these users.

[0011] As a further technical solution of the present invention: the process of obtaining the first component selection coefficient includes:

[0012] Through the formula:

[0013] ;

[0014] Obtain the first pickup coefficient ;

[0015] in, As a correction factor, and , and These are the preset unit standard values. It refers to the number of people scheduled to pick up the package. This refers to the number of people temporarily picking up packages. This is the first time to pick up the item. This is the second pickup time. It represents the number of people whose pickup timed out. , , and These are the preset first weight coefficient, second weight coefficient, third weight coefficient, and fourth weight coefficient, respectively.

[0016] As a further technical solution of the present invention: the process of dividing the current area into several partitions based on the first component selection coefficient includes:

[0017] Obtain the average daily delivery volume, map information, and location information of each preset station in the current area;

[0018] Confirm the number of partitions and the number of preset stations for each partition. The ratio of the average daily delivery volume to the number of partitions should not exceed the preset safety value. The number of preset stations for each partition is the ratio of the total number of preset stations to the number of partitions, rounded down.

[0019] Select several preset stations with the highest first pickup coefficient, which is the same as the number of partitions, as the initial stations. Preset stations that are directly adjacent to the initial stations through roads are called first-level stations, and preset stations that are directly adjacent to the first-level stations through roads are called second-level stations.

[0020] Based on the distance between each initial station and its first-level stations, and the distance between each first-level station and its second-level stations, select several first-level stations and second-level stations to form a partition with the initial station.

[0021] The above technical solution provides a process for obtaining the first pickup coefficient and a process for generating partitions. The invention first identifies the initial station through the first pickup coefficient. The initial station is the location with the largest cargo volume in each partition in historical data. The distance between each non-initial station and the initial station in the partition is relatively even. In this way, any adjustment requirement that occurs at any location during the adjustment process can be met in a timely manner, while minimizing interference with the preset operation process of the second logistics vehicle and realizing full utilization of transportation capacity.

[0022] As a further technical solution of the present invention: the rules for forming partitions include:

[0023] Get the first number of the current initial site and its corresponding first-level site. If the first number is less than the preset number of sites, get the second number of several second-level sites that are closest to the first-level site, so that the sum of the first number and the second number is equal to the preset number of sites.

[0024] The remaining preset sites during the composition process are assigned to the partition containing the nearest preset site without duplication.

[0025] The above technical solution provides a process for partitioning. The partitioning of this invention is based on distance. The sum of the distances between the non-initial station and the initial station in each partition is relatively uniform, which facilitates the logistics vehicle body at any preset station in any partition to perform adjustment tasks.

[0026] As a further technical solution of the present invention, the process of forming partitions also includes:

[0027] If there exists a preset site that is simultaneously a primary site of at least two initial sites;

[0028] Substitute the preset station into the partitions of at least two initial stations to calculate the sum of the distances between each preset station and the initial station, and select the corresponding partition with the smallest sum of all distances as the partition to which the preset station belongs.

[0029] The other initial sites are then reselected to join their respective partitions by selecting the same number of new primary and secondary sites according to the partition composition rules.

[0030] As a further technical solution of the present invention: the process of obtaining the second component selection coefficient includes:

[0031] The waiting time is divided into 1 to m stages, and the pickup time of each recipient is mapped to one of the m stages.

[0032] Through the formula:

[0033] ;

[0034] Obtain the second component selection coefficient ;

[0035] Where x is a preset base value, It is the average of the pickup time corresponding to the number of stages in the previous pickup cycle for the pickup person. This refers to the number of times the pickup timed out in the previous pickup cycle. It represents the number of pickups made by the pickup person in the previous pickup cycle. is the preset standard degree, a is the error factor, and max is the function for finding the maximum and minimum values.

[0036] The above technical solution provides a process for obtaining the second pickup coefficient, which is set based on the pickup person's pickup habits. The more likely the pickup person is to complete the pickup on time during the first half of the waiting time, the smaller the pickup coefficient will be. Conversely, if the pickup person is accustomed to completing the pickup in the second half of the waiting time or is not on time, the pickup coefficient will increase accordingly. This describes the pickup person's pickup status, making it easier to distinguish and control the second delivery route of the second logistics vehicle.

[0037] As a further technical solution of the present invention: the process of adjusting the delivery route of the logistics vehicle according to the pickup coefficient includes:

[0038] Each zone's logistics vehicle body includes at least two logistics vehicles, referred to as the first logistics vehicle and the second logistics vehicle, and obtains the appointment information of the pick-up person at least one day in advance;

[0039] The control unit obtains the reservation information of the express delivery in the first and second logistics vehicles, including the pickup time and the preset pickup station;

[0040] Based on the reservation information, the preset route planning software in the control unit plans the first optimal route and the second optimal route for the first logistics vehicle and the second logistics vehicle, respectively.

[0041] If the first logistics vehicle stops at any of the preset stations where a second pickup coefficient exists for the pickup person. If so, the second optimal route is adjusted so that the second logistics vehicle arrives at the preset station reserved by the recipient when the recipient's waiting time ends.

[0042] If the recipient's package is still not picked up after the second logistics vehicle arrives, the corresponding package from the first logistics vehicle will be transferred to the temporary storage room of the second logistics vehicle via the transfer module, and the second logistics vehicle will complete the waiting time.

[0043] As a further technical solution of the present invention, it also includes an alarm module:

[0044] The warning module is for The number of people is monitored;

[0045] like If the ratio of the number of people picking up packages in the current zone to the total number of people picking up packages is not less than 3%, an alarm will be issued.

[0046] The present invention also provides a method for controlling unmanned logistics vehicles based on vehicle positioning, comprising the following steps:

[0047] Acquire the pickup data of all preset stations within the region within one sampling period;

[0048] The first pickup coefficient is obtained based on the pickup data. Then, the current area is divided into several partitions based on the first pickup coefficient, and the preset station with the highest first pickup coefficient in each partition is located in the center of the area.

[0049] Collect pickup habit data of the pickup person in the previous pickup cycle and obtain a second pickup coefficient based on the pickup habit data. Then, adjust the delivery route of the logistics vehicle according to the pickup coefficient so that the first logistics vehicle containing the express delivery of the pickup person who meets the preset conditions meets the second logistics vehicle before going to the next station.

[0050] The beneficial effects of this invention are:

[0051] (1) The present invention first identifies the initial station by the first pickup coefficient. The initial station is the location with the largest cargo volume in each partition in the historical data. The distance between each non-initial station and the initial station in the partition is relatively average. In this way, any adjustment requirement that occurs at any location during the adjustment process can be met in a timely manner, while maximizing the non-interference with the preset operation process of the second logistics vehicle itself, so as to achieve full utilization of transportation capacity.

[0052] (2) The partitions of the present invention are divided based on distance. The sum of the distances between the non-initial station and the initial station in each partition is relatively uniform, which makes it easier for the logistics vehicle body at any preset station in any partition to perform adjustment tasks.

[0053] (3) The present invention provides a process for obtaining the second pickup coefficient. The second pickup coefficient is set based on the pickup habit of the pickup person. The more the pickup person tends to complete the pickup on time in the first half of the waiting time or within the time, the larger the pickup coefficient is. Conversely, if the pickup person is accustomed to completing the pickup in the second half of the pickup time or there is a situation where the pickup is not completed on time, the pickup coefficient is reduced accordingly. In this way, the pickup status of the pickup person is described, which makes it easier to distinguish and control the second delivery path of the second logistics vehicle.

[0054] (4) This invention helps a small number of users who are not punctual in picking up their packages by analyzing data and adjusting the process, thereby preventing these users from chasing after the logistics vehicle and improving their user experience while ensuring safety. Attached Figure Description

[0055] The invention will now be further described with reference to the accompanying drawings.

[0056] Figure 1 This is a schematic diagram of the modular composition of the logistics vehicle system of the present invention;

[0057] Figure 2 This is a flowchart of the steps of the logistics vehicle control method of the present invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Please see Figure 1 As shown, in one embodiment, a vehicle positioning-based unmanned logistics vehicle system is provided, comprising:

[0060] The logistics vehicle module includes the logistics vehicle body and a control unit that controls the logistics vehicle body to carry out the express delivery process. The express delivery process includes movement time and waiting time. During the waiting time, the logistics vehicle body stays at a preset station. The logistics vehicle body is equipped with a temporary storage room.

[0061] The regional management module includes an information acquisition unit and a regional division unit. The information acquisition unit acquires pickup data for all preset stations within a sampling period within the region. The regional division unit obtains a first pickup coefficient based on the pickup data and then divides the current region into several partitions based on the first pickup coefficient, placing the preset station with the highest first pickup coefficient in each partition at the center of the region. The pickup data includes the number of scheduled pickups, the number of temporary pickups, the first pickup time, the second pickup time, and the number of pickups that timed out within a sampling period. The sampling period can be set to one week or one month, depending on the amount of data. The first pickup time is the average pickup time for scheduled pickups, and the second pickup time is the average pickup time for temporary pickups. Temporary pickups are determined based on the location of the logistics vehicle and the pickup person. If the logistics vehicle detects that the pickup person corresponding to the package is nearby during its movement, it sends a pickup invitation to that pickup person. If the pickup person accepts the pickup invitation, it is recorded as a temporary pickup process.

[0062] The pickup management system collects pickup habit data from the previous pickup cycle and obtains a second pickup coefficient based on the pickup habit data. Then, it adjusts the delivery route of the logistics vehicle according to the pickup coefficient so that the first logistics vehicle containing the express package of the pickup person who meets the preset conditions meets the second logistics vehicle before heading to the next station. After the first logistics vehicle completes its waiting time, the second logistics vehicle continues to complete one waiting time at the current station. The pickup habit data from the previous pickup cycle includes the number of pickups, the pickup time, and the number of pickup timeouts.

[0063] The transfer module is used to transfer the corresponding package from the first logistics vehicle to the second logistics vehicle when the first logistics vehicle meets the second logistics vehicle and the first logistics vehicle contains a package that has not been picked up during the previous waiting time. The transfer module can be an electric push rod or a mechanical gripper, and the specific result is not limited. It is used to transfer express packages.

[0064] This embodiment provides a method to manage the logistics status within a region using a first logistics vehicle and a second logistics vehicle. Through data analysis and process adjustment, assistance is provided to a small number of users who are not punctual in picking up their packages, preventing these users from chasing after the logistics vehicle itself, ensuring safety while improving the user experience for these users.

[0065] The process of obtaining the first take-up coefficient includes:

[0066] Through the formula:

[0067] ;

[0068] Obtain the first pickup coefficient ;

[0069] in, As a correction factor, and , and These are the preset unit standard values. It refers to the number of people scheduled to pick up the package. This refers to the number of people temporarily picking up packages. This is the first time to pick up the item. This is the second pickup time. It represents the number of people whose pickup timed out. , , and These are the preset first weighting coefficient, second weighting coefficient, third weighting coefficient, and fourth weighting coefficient, respectively. , , and All are constants and their values ​​range from [0,1].

[0070] In one embodiment, the process of dividing the current area into several partitions based on a first pickup coefficient includes:

[0071] Obtain the average daily delivery volume, map information, and location information of each preset station in the current area;

[0072] Confirm the number of partitions and the number of preset stations for each partition. The ratio of the average daily delivery volume to the number of partitions should not exceed the preset safety value. The number of preset stations for each partition is the ratio of the total number of preset stations to the number of partitions, rounded down.

[0073] Select several preset stations with the highest first-order coefficient, which is the same as the number of partitions, as the initial stations. Preset stations that are directly adjacent to the initial stations by roads are called first-level stations, preset stations that are directly adjacent to first-level stations by roads are called second-level stations, and similarly, preset stations that are directly adjacent to second-level stations by roads are called third-level stations.

[0074] Based on the distance between each initial station and its first-level stations, and the distance between each first-level station and its second-level stations, several first-level stations and second-level stations are selected to form a partition with the initial station. It should be noted that the distance refers to the road distance between the two, not the straight-line distance.

[0075] Through the above technical solution: In this embodiment, the process of obtaining the first pickup coefficient and the process of generating the partition are provided. The present invention first identifies the initial station through the first pickup coefficient. The initial station is the location with the largest logistics volume in each partition in the historical data. The distance between each non-initial station and the initial station in the partition is relatively average. In this way, if an adjustment requirement occurs at any position during the adjustment process, the requirement can be met in a timely manner. At the same time, the preset operation process of the second logistics vehicle is minimized, so as to achieve full utilization of transportation capacity.

[0076] In one embodiment, the rules for forming partitions include:

[0077] Get the first number of the current initial site and its corresponding first-level site. If the first number is less than the preset number of sites, get the second number of several second-level sites that are closest to the first-level site, so that the sum of the first number and the second number is equal to the preset number of sites.

[0078] The remaining preset sites during the composition process are assigned to the partition containing the nearest preset site without duplication.

[0079] This embodiment provides a partitioning process. The partitioning of the present invention is based on distance. The sum of the distances between the non-initial station and the initial station in each partition is relatively uniform, which facilitates the logistics vehicle body at any preset station in any partition to perform adjustment tasks.

[0080] The process of creating partitions also includes:

[0081] If there exists a preset site that is simultaneously a primary site of at least two initial sites;

[0082] Substitute the preset station into the partitions of at least two initial stations to calculate the sum of the distances between each preset station and the initial station, and select the corresponding partition with the smallest sum of all distances as the partition to which the preset station belongs.

[0083] The other initial sites are then reselected to join their respective partitions by selecting the same number of new primary and secondary sites according to the partition composition rules.

[0084] In one embodiment, the process of obtaining the second take-up coefficient includes:

[0085] The waiting time is divided into 1 to m stages, and the pickup time of each recipient is mapped to one of the m stages.

[0086] Through the formula:

[0087] ;

[0088] Obtain the second component selection coefficient ;

[0089] Where x is a preset base value, which is a constant and proportional to the average number of items picked up per person in the region. It is the average of the pickup time corresponding to the number of stages in the previous pickup cycle for the pickup person. This refers to the number of times the pickup timed out in the previous pickup cycle. It represents the number of pickups made by the pickup person in the previous pickup cycle. is the preset standard degree, which is a constant, a is the error factor, and max is the function for finding the maximum and minimum values.

[0090] It should be noted that the preset base value x and the preset standard number are... All settings need to be adjusted based on the actual delivery conditions in the region. When 'a' is 2, the allowable error is 1; when 'a' is 3, the allowable error is 2. Within the allowable error range, the number of times the pickup timeout occurs during the pickup cycle will not affect the pickup status. This has had a significant impact.

[0091] This embodiment provides a process for obtaining the second pickup coefficient. The second pickup coefficient is set based on the pickup person's pickup habits. The more the pickup person tends to complete the pickup on time during the first half of the waiting time or within the time, the smaller the pickup coefficient will be. Conversely, if the pickup person is accustomed to completing the pickup in the second half of the pickup time or there are cases of not completing the pickup on time, the pickup coefficient will increase accordingly. In this way, the pickup person's pickup status is described, which makes it easier to distinguish and control the second delivery route of the second logistics vehicle.

[0092] The process of adjusting the delivery route of logistics vehicles based on the pickup coefficient includes:

[0093] Each zone's logistics vehicle body includes at least two logistics vehicles, referred to as the first logistics vehicle and the second logistics vehicle, and obtains the appointment information of the pick-up person at least one day in advance;

[0094] The control unit obtains the reservation information of the express delivery in the first and second logistics vehicles, including the pickup time and the preset pickup station;

[0095] Based on the reservation information, the preset route planning software in the control unit plans the first optimal route and the second optimal route for the first logistics vehicle and the second logistics vehicle, respectively.

[0096] If the first logistics vehicle stops at any of the preset stations where a second pickup coefficient exists for the pickup person. If the second optimal route is adjusted so that the second delivery vehicle arrives at the preset station reserved by the recipient at the end of the recipient's waiting time, it should be noted that adjusting the second optimal route is a task replacement, that is, deleting the task on the original second optimal route for that time period in advance and picking up the corresponding express delivery. This is a preset safety value, set according to the actual situation of the area, and is a constant.

[0097] If the recipient's package is still not picked up after the second logistics vehicle arrives, the corresponding package from the first logistics vehicle will be transferred to the temporary storage room of the second logistics vehicle via the transfer module, and the second logistics vehicle will complete its waiting time. Obviously, if all packages are picked up within any waiting time, the waiting time will end early.

[0098] It also includes an alarm module:

[0099] The alarm module has The number of people is monitored;

[0100] like If the ratio of the number of people picking up packages in the current zone to the total number of people picking up packages is not less than 3%, an alarm will be issued.

[0101] It should be noted that the application environment of this invention is within a campus. Generally speaking, the ratio of the number of people who pick up their packages late to the total number of people who pick up their packages is in the range of 0-2%. If the actual number exceeds 3%, the second logistics vehicle will be overwhelmed and will not have enough time to complete its logistics task.

[0102] This embodiment also provides a method for controlling unmanned logistics vehicles based on vehicle positioning, referencing... Figure 2 It includes the following steps:

[0103] S100: Obtain the pickup data of all preset stations within the area within one sampling period;

[0104] S200, Obtain the first pickup coefficient based on the pickup data;

[0105] S300: Divide the current area into several partitions based on the first pickup coefficient and place the preset station with the highest first pickup coefficient in each partition at the center of the area;

[0106] S400: Collect the pickup habit data of the pickup person in the previous pickup cycle and obtain the second pickup coefficient based on the pickup habit data;

[0107] S500: Adjust the delivery route of the logistics vehicle according to the pickup coefficient so that the first logistics vehicle containing the package of the pickup person who meets the preset conditions meets the second logistics vehicle before heading to the next station. After the meeting, if the second pickup coefficient of the pickup person exists at any preset station where the first logistics vehicle stops arbitrarily... If so, the second optimal route is adjusted so that the second logistics vehicle arrives at the preset station reserved by the recipient when the recipient's waiting time ends.

[0108] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A vehicle positioning-based unmanned logistics vehicle system, characterized in that, include: The logistics vehicle module includes a logistics vehicle body and a control unit that controls the logistics vehicle body to carry out the express delivery process. The express delivery process includes movement time and waiting time. During the waiting time, the logistics vehicle body stays at a preset station. The logistics vehicle body is equipped with a temporary storage room. The area management module includes an information acquisition unit and an area division unit. The information acquisition unit is used to acquire the pickup data of all preset stations in the area within a sampling period. The area division unit acquires a first pickup coefficient based on the pickup data, and then divides the current area into several partitions based on the first pickup coefficient, and places the preset station with the highest first pickup coefficient in each partition at the center of the area. The pickup management system collects pickup habit data of pickupers in the previous pickup cycle and obtains a second pickup coefficient based on the pickup habit data. Then, it adjusts the delivery route of the logistics vehicle according to the pickup coefficient so that the first logistics vehicle containing the express delivery of the pickuper that meets the preset conditions meets the second logistics vehicle before heading to the next station. After the first logistics vehicle completes its waiting time, the second logistics vehicle continues to complete one waiting time at the current station. The transfer module is used to transfer the corresponding express delivery in the first logistics vehicle to the second logistics vehicle when the first logistics vehicle meets the second logistics vehicle and the first logistics vehicle contains express delivery that has not been picked up during the previous waiting time. The process of obtaining the first pickup coefficient includes: Through the formula: ； Obtain the first pickup coefficient ; in, As a correction factor, and , and These are the preset unit standard values. It refers to the number of people scheduled to pick up the package. This refers to the number of people temporarily picking up packages. This is the first time to pick up the item. This is the second pickup time. It represents the number of people whose pickup timed out. , , and These are the preset first weight coefficient, second weight coefficient, third weight coefficient, and fourth weight coefficient, respectively. The process of obtaining the second pick-up coefficient includes: The waiting time is divided into 1 to m stages, and the pickup time of each recipient is mapped to one of the m stages. Through the formula: ； Obtain the second component selection coefficient ; Where x is a preset base value, It is the average of the pickup time corresponding to the number of stages in the previous pickup cycle for the pickup person. This refers to the number of times the pickup timed out in the previous pickup cycle. It represents the number of pickups made by the pickup person in the previous pickup cycle. is the preset standard degree, a is the error factor, and max is the function for finding the maximum and minimum values.

2. The unmanned logistics vehicle system based on vehicle positioning according to claim 1, wherein the process of dividing the current area into several partitions based on a first pickup coefficient includes: Obtain the average daily delivery volume, map information, and location information of each preset station in the current area; Confirm the number of partitions and the number of preset stations for each partition. The ratio of the average daily delivery volume to the number of partitions should not exceed the preset safety value. The number of preset stations for each partition is the ratio of the total number of preset stations to the number of partitions, rounded down. Select several preset stations with the highest first pickup coefficient, which is the same as the number of partitions, as the initial stations. Preset stations that are directly adjacent to the initial stations through roads are called first-level stations, and preset stations that are directly adjacent to the first-level stations through roads are called second-level stations. Based on the distance between each initial station and its first-level stations, and the distance between each first-level station and its second-level stations, select several first-level stations and second-level stations to form a partition with the initial station.

3. The unmanned logistics vehicle system based on vehicle positioning according to claim 2, wherein the rules for forming zones include: Get the first number of the current initial site and its corresponding first-level site. If the first number is less than the preset number of sites, get the second number of several second-level sites that are closest to the first-level site, so that the sum of the first number and the second number is equal to the preset number of sites. The remaining preset sites during the composition process are assigned to the partition containing the nearest preset site without duplication.

4. The unmanned logistics vehicle system based on vehicle positioning according to claim 3, characterized in that, The process of creating partitions also includes: If there exists a preset site that is simultaneously a primary site of at least two initial sites; Substitute the preset station into the partitions of at least two initial stations to calculate the sum of the distances between each preset station and the initial station, and select the corresponding partition with the smallest sum of all distances as the partition to which the preset station belongs. The other initial sites are then reselected to join their respective partitions by selecting the same number of new primary and secondary sites according to the partition composition rules.

5. The unmanned logistics vehicle system based on vehicle positioning according to claim 1, characterized in that, The process of adjusting the delivery route of logistics vehicles based on the pickup coefficient includes: Each zone's logistics vehicle body includes at least two logistics vehicles, referred to as the first logistics vehicle and the second logistics vehicle, and obtains the appointment information of the pick-up person at least one day in advance; The control unit obtains the reservation information of the express delivery in the first and second logistics vehicles, including the pickup time and the preset pickup station; Based on the reservation information, the preset route planning software in the control unit plans the first optimal route and the second optimal route for the first logistics vehicle and the second logistics vehicle, respectively. If the first logistics vehicle stops at any of the preset stations where a second pickup coefficient exists for the pickup person. Then, the second optimal route is adjusted so that the second logistics vehicle arrives at the preset station reserved by the recipient when the recipient's waiting time ends. This is a preset safety value; If the recipient's package is still not picked up after the second logistics vehicle arrives, the corresponding package from the first logistics vehicle will be transferred to the temporary storage room of the second logistics vehicle via the transfer module, and the second logistics vehicle will complete the waiting time.

6. The unmanned logistics vehicle system based on vehicle positioning according to claim 1, characterized in that, It also includes an alarm module: The warning module is for The number of people is monitored; like If the ratio of the number of people picking up packages in the current zone to the total number of people picking up packages is not less than 3%, an alarm will be issued.

7. A control method for unmanned logistics vehicles based on vehicle positioning, characterized in that, The unmanned logistics vehicle control system based on vehicle positioning as described in any one of claims 1-6 includes the following steps: Acquire the pickup data of all preset stations within the region within one sampling period; The first pickup coefficient is obtained based on the pickup data. Then, the current area is divided into several partitions based on the first pickup coefficient, and the preset station with the highest first pickup coefficient in each partition is located in the center of the area. Collect pickup habit data of the pickup person in the previous pickup cycle and obtain a second pickup coefficient based on the pickup habit data. Then, adjust the delivery route of the logistics vehicle according to the pickup coefficient so that the first logistics vehicle containing the express delivery of the pickup person who meets the preset conditions meets the second logistics vehicle before going to the next station. The process of obtaining the first pickup coefficient includes: Through the formula: ； Obtain the first pickup coefficient ; in, As a correction factor, and , and These are the preset unit standard values. It refers to the number of people scheduled to pick up the package. This refers to the number of people temporarily picking up packages. This is the first time to pick up the item. This is the second pickup time. It represents the number of people whose pickup timed out. , , and These are the preset first weight coefficient, second weight coefficient, third weight coefficient, and fourth weight coefficient, respectively. The process of obtaining the second pick-up coefficient includes: The waiting time is divided into 1 to m stages, and the pickup time of each recipient is mapped to one of the m stages. Through the formula: ； Obtain the second component selection coefficient ; Where x is a preset base value, It is the average of the pickup time corresponding to the number of stages in the previous pickup cycle for the pickup person. This refers to the number of times the pickup timed out in the previous pickup cycle. It represents the number of pickups made by the pickup person in the previous pickup cycle. is the preset standard degree, a is the error factor, and max is the function for finding the maximum and minimum values.

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