CN106845713A - A kind of setting planing method of unmanned plane express delivery automatic charging stake - Google Patents
A kind of setting planing method of unmanned plane express delivery automatic charging stake Download PDFInfo
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Abstract
The invention discloses a kind of setting planing method of unmanned plane express delivery automatic charging stake.In all of express delivery website in region, solution based on Travelling salesman problem, one is cooked up using genetic algorithm and only once and finally return back to the shortest path in express delivery collecting and distributing centre from express delivery collecting and distributing centre, by all express delivery websites, then with the maximum single flying distance no more than unmanned plane in this pathsL max It is boundary, set charging pile in corresponding website independently supplements electricity for unmanned plane.The present invention is in a city express delivery website distribution map, all websites are connected by a kind of efficient routing algorithm first, so that total path is most short, endurance further according to unmanned plane automatically selects suitable express delivery website and sets charging pile so that the minimum number of charging pile and can guarantee that unmanned plane returns to safely starting point after all express delivery delivery tasks are completed.So, unmanned plane can travel through each express delivery website in the city in a subtask and return to starting point.
Description
Technical field
The present invention relates to depopulated helicopter trajectory planning field, particularly a kind of setting of unmanned plane express delivery automatic charging stake
Planing method.
Background technology
In the developing rapidly of social economy, logistic industry plays particularly important and indispensable role.Now it is mutual
The development of networking technology, causes the rapid emergence of ecommerce again.The popularization of ecommerce so that shopping way is more various,
It is more convenient.In recent years, the development of express delivery industry was greatly benefit from the development of ecommerce, and faced increasingly
More new challenge.According to statistics, whole year in 2015, the portfolio of national Courier Service enterprise totals 206.7 hundred million, increases on year-on-year basis
Long 48%, it is faced with huge express delivery and delivers task.How to improve delivery efficiency, save human cost, be current express delivery industry
Most one of Tough questions that development faces.
Today, along with the rise of unmanned air vehicle technique, increasing express company starts to turn one's attention to and uses nobody
Machine carrys out delivering packages.Compared to traditional express delivery delivery pattern, unmanned plane can not be limited by traffic above-ground, and path is almost
Straight line, significantly improves delivery efficiency；Express delivery particularly with remote suburb is delivered, and manpower can be substantially reduced using unmanned plane
Cost.In addition, the development of current charging technique, helps to solve the problems, such as the continuation of the journey of unmanned plane, so as to significantly increase unmanned plane
Scope of activities.In order that unmanned plane can accurately and efficiently deliver express delivery, rational path planning and charging pile are set must
It is few.
The explanation of nouns used in the present invention is as follows：
Express delivery unmanned plane：Express mail and can be by the unmanned plane of charging pile recharging can be delivered.Mentioned in the present invention
Unmanned plane all refers to such unmanned plane.
Path planning：Aircraft disclosure satisfy that the flight path of aerial mission constraints.
Express delivery collecting and distributing centre：The express mail of express company intensively, express mail is focused in this place, go-no-go, point
Class, send part.
Express delivery website：Refer to all express deliveries delivery point set in region, be provided with express delivery cabinet, automatically to receive unmanned plane fast
The website passed.
The stake of unmanned plane automatic charging：The equipment that can be charged to unmanned plane automatically.
Maximum single flying distance Lmax：In the case of full load, the fully charged rear maximum for considering safety allowance flies unmanned plane
Row path length, the performance parameter according to unmanned plane is configured.L is taken in an embodiment of the present inventionmax=10km.
Travelling salesman problem：TSP problems (Traveling Salesman Problem, TSP) are also called, it is to calculate
The very classical problem in one, machine field, the problem can simply be expressed as：Assuming that there is n city, it is desirable to find out one most
Short and closing itinerary, makes promoter access wherein every city only once.
The content of the invention
The technical problems to be solved by the invention are, in view of the shortcomings of the prior art, there is provided a kind of unmanned plane express delivery is automatic
The setting planing method of charging pile.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of unmanned plane express delivery automatic charging stake
Setting planing method, comprise the following steps：
1) assume to have n express delivery website in region, to all n express delivery websites in region (including during express delivery is collecting and distributing
The heart) carry out path planning so that and unmanned plane only once and is finally returned to from express delivery collecting and distributing centre, by each express delivery website
Total flight path to express delivery collecting and distributing centre is most short；The specific method for solving of this step with use Genetic Algorithms for Traveling Salesman Problem
Identical, many pertinent literatures are discussed in detail, and repeat no more here；
2) in step 1) on the optimal path cooked up, express delivery collecting and distributing centre is named as No. 1 website, and by clockwise
Or counterclockwise named to remaining each express delivery website successively, last express delivery website is named as No. n-th website；So
Afterwards, the distance between adjacent sites and website are calculated, if from No. 1 express delivery website (express delivery collecting and distributing centre) to No. 2 express delivery
The distance of website is S1, No. 2 express delivery website to No. 3 distance of express delivery website be S2..., No. n-th express delivery website return to soon
The distance for passing collecting and distributing centre is Sn, it is assumed that Si∣I ∈ (1,2 ..., n)≤ unmanned plane maximum single flying distance Lmax；
3) with m websites as starting point, m=1 is made first；
4) find out and meet Sm+Sm+1+…+Si≤LmaxAnd Sm+Sm+1+…+Si+Si+1>LmaxI values, in i+1 express station
Point sets a unmanned plane automatic charging stake；
5) with i+1 express delivery website as starting point, make m=i+1, continue according to step 4) rule, select next conjunction
Suitable express delivery website sets charging pile；
6) by that analogy, until find out the express delivery website for adding charging pile in need.
Compared with prior art, advantages of the present invention is：The present invention is led to first in a city express delivery website distribution map
Cross a kind of efficient routing algorithm to couple together all websites, and cause that total path is most short；Further according to the continuation of the journey energy of unmanned plane
Power automatically selects suitable express delivery website and sets charging pile so that the minimum number of charging pile and can guarantee that unmanned plane completes institute
Express delivery collecting and distributing centre can be still safely returned to after having express delivery delivery task.So, unmanned plane can be traveled through in a subtask
Whole express delivery websites in the city simultaneously return to safely starting point.
Brief description of the drawings
Fig. 1 is the setting website selection schematic diagram of total path planning and the charging pile of the embodiment of the present invention.It is shown in the figure
30km × 30km rectangular area in be provided with 15 express delivery websites altogether, they (abscissa x, ordinate y) respectively
For：Website 1 (9,3), website 2 (16,4.5), website 3 (20.5,6.5), website 4 (23,2.5), website 5 (30,5), website 6
(25,10), website 7 (18,13), website 8 (24,19), website 9 (21,23), website 10 (12,20), website 11 (8,23) is stood
12 (8,28) of point, website 13 (1.5,25), website 14 (4,18), website 15 (3,9), wherein, website 1 is express delivery collecting and distributing centre,
The unit of each coordinate is km.
Fig. 2 implements process flow diagram flow chart for the present invention.
Specific embodiment
Main task of the invention is to determine the shortest path planning and unmanned plane that a kind of unmanned plane express delivery is delivered automatically
Charging pile method to set up, the specific implementation of the program can be as follows with exemplifications set：
(1) as shown in figure 1, being provided with 15 express delivery websites, website 1 altogether in 30km × 30km urban areas of regulation
It is set to express delivery collecting and distributing centre；Take unmanned plane maximum single flying distance Lmax=10km；
(2) solution based on Travelling salesman problem, using genetic algorithm, slave site 1 is set out and travels through 15 express deliveries
Bus stop planning go out one by all websites only once and the most short closed path of distance (the specific method for solving of this step with adopt
Identical with Genetic Algorithms for Traveling Salesman Problem, many pertinent literatures are discussed in detail, and repeat no more here)；Path planning
Result as shown in arrowed closed course in Fig. 1, we set unmanned plane and fly counterclockwise on this paths
OK, as shown in Figure, No. 1 website is express delivery collecting and distributing centre for the name of each website；
(3) as shown in figure 1, the distance between each adjacent express delivery website has all been computed and has marked (unit is km), such as scheme
In shown in numeral beside each orbit segment middle part.S as seen from the figure1=7.16km<10km, S1+S2=12.08km>10km, therefore,
Meet Sm+Sm+1+…+Si≤LmaxAnd Sm+Sm+1+…+Si+Si+1>LmaxThe value of i be 1, and i+1=2, therefore need fast at No. 2
Pass one automatic charge device of setting at website；
(4) then, then with No. 2 express delivery website be starting point, even m=2, S as seen from the figure2=4.92km<10km, S2+S3
=9.64km<10km, S2+S3+S4=17.07km>10km, it therefore meets Sm+Sm+1+…+Si≤LmaxAnd Sm+Sm+1+…+Si+
Si+1>LmaxI values be 3, and i+1=4, therefore an automatic charging should be set at No. 4 express delivery website；
(5) by that analogy, until by institute it is in need setting charging pile website find out, as shown in figure 1, being marked with large circle
Express delivery website be the express delivery website that install charging pile；
(6) in each charging station for setting, unmanned plane can supplement electricity with recharging, and this area just can be flown through with this
All express delivery websites in domain are safely completed express delivery and deliver task.
Claims (2)
1. the setting planing method of a kind of unmanned plane express delivery automatic charging stake, it is characterised in that comprise the following steps：
1) assume to have n express delivery website in region, path planning is carried out to all n express station points in region so that nothing
It is man-machine only once and to finally return back to total flight in express delivery collecting and distributing centre from express delivery collecting and distributing centre, by each express delivery website
Distance is most short；
2) in step 1) on the path cooked up, express delivery collecting and distributing centre is named as No. 1 website, and by clockwise or counterclockwise
Direction is named to remaining each express delivery website successively, and the express delivery website of most end is named as No. n-th website；Then phase is calculated
The distance between neighbors and website, if being to the distance of No. 2 express delivery website from No. 1 express delivery website express delivery collecting and distributing centre
S1, No. 2 express delivery website to No. 3 distance of express delivery website be S2..., No. n-th express delivery website return to express delivery collecting and distributing centre
Distance is Sn, it is assumed that Si∣I ∈ (1,2 ..., n)≤ unmanned plane maximum single flying distance Lmax；
3) with m websites as starting point, m=1 is made first；
4) find out and meet Sm+Sm+1+…+Si≤LmaxAnd Sm+Sm+1+…+Si+Si+1>LmaxI values, set in i+1 express delivery website
Put a unmanned plane automatic charging stake；
5) with i+1 express delivery website as starting point, make m=i+1, continue according to step 4) rule, select next suitable
Express delivery website sets charging pile；
6) by that analogy, until find out the express delivery website for adding charging pile in need.
2. the setting planing method of unmanned plane express delivery automatic charging according to claim 1 stake, it is characterised in that step 1)
In, the solution based on Travelling salesman problem, traveling through all n express station points in region using genetic algorithm carries out nothing
Man-machine most short flight path planning.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107358322A (en) * | 2017-07-12 | 2017-11-17 | 中南大学 | Shortest path planning method is delivered in a kind of unmanned plane express delivery automatically |
| CN107679802A (en) * | 2017-09-29 | 2018-02-09 | 广州唯品会研究院有限公司 | Unmanned vehicle charging method, device and computer-readable recording medium |
| CN107943072A (en) * | 2017-11-13 | 2018-04-20 | 深圳大学 | Unmanned plane during flying path generating method, device, storage medium and equipment |
| CN108693891A (en) * | 2018-05-22 | 2018-10-23 | 成都释你科技有限公司 | A kind of unmanned plane delivery system and delivery method |
| CN108945503A (en) * | 2018-07-03 | 2018-12-07 | 北京航空航天大学 | A kind of police unmanned plane airplane parking area site selecting method of highway |
| CN109141398A (en) * | 2018-07-28 | 2019-01-04 | 江苏苏宁物流有限公司 | A kind of unmanned plane paths planning method and device for logistics |
| CN111123975A (en) * | 2019-12-09 | 2020-05-08 | 国网浙江省电力有限公司湖州供电公司 | Unmanned aerial vehicle wireless charging station planning method in power inspection area |
| CN111930138A (en) * | 2020-07-06 | 2020-11-13 | 浙江浙能技术研究院有限公司 | Unmanned aerial vehicle path and charging pile distribution point optimization planning method for photovoltaic power station inspection |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107358322A (en) * | 2017-07-12 | 2017-11-17 | 中南大学 | Shortest path planning method is delivered in a kind of unmanned plane express delivery automatically |
| CN107679802A (en) * | 2017-09-29 | 2018-02-09 | 广州唯品会研究院有限公司 | Unmanned vehicle charging method, device and computer-readable recording medium |
| CN107943072A (en) * | 2017-11-13 | 2018-04-20 | 深圳大学 | Unmanned plane during flying path generating method, device, storage medium and equipment |
| CN108693891A (en) * | 2018-05-22 | 2018-10-23 | 成都释你科技有限公司 | A kind of unmanned plane delivery system and delivery method |
| CN108945503A (en) * | 2018-07-03 | 2018-12-07 | 北京航空航天大学 | A kind of police unmanned plane airplane parking area site selecting method of highway |
| CN109141398A (en) * | 2018-07-28 | 2019-01-04 | 江苏苏宁物流有限公司 | A kind of unmanned plane paths planning method and device for logistics |
| CN109141398B (en) * | 2018-07-28 | 2022-03-29 | 江苏苏宁物流有限公司 | Unmanned aerial vehicle path planning method and device for logistics |
| CN111123975A (en) * | 2019-12-09 | 2020-05-08 | 国网浙江省电力有限公司湖州供电公司 | Unmanned aerial vehicle wireless charging station planning method in power inspection area |
| CN111123975B (en) * | 2019-12-09 | 2024-01-02 | 国网浙江省电力有限公司湖州供电公司 | Unmanned aerial vehicle wireless charging station planning method in electric power inspection area |
| CN111930138A (en) * | 2020-07-06 | 2020-11-13 | 浙江浙能技术研究院有限公司 | Unmanned aerial vehicle path and charging pile distribution point optimization planning method for photovoltaic power station inspection |
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Application publication date: 20170613 |