CN107657412A - Towards the unmanned plane and automobile combined type delivery system and allocator of remote districts - Google Patents
Towards the unmanned plane and automobile combined type delivery system and allocator of remote districts Download PDFInfo
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Abstract
The invention discloses a kind of unmanned plane and automobile combined type allocator towards remote districts, comprise the following steps：1) automobile delivers the unmanned plane for wrapping up and being mounted with parcel to the starting point in dispatching region, and described dispatching region includes multiple unmanned planes dispatching point and automobile dispatching point；2) unmanned plane is taken off from starting point or midway and is distributed to parcel after the unmanned plane specified dispenses point and maked a return voyage to dispatching region terminal, wherein the dispatching of each unmanned plane is at most by a unmanned plane dispatching；3) after whole unmanned planes make a return voyage and load to described automobile, complete dispatching.The present invention considers the geographical distribution situation of the logistics distribution point of remote districts, carry out the classification of logistics distribution point, logistics distribution is carried out by unmanned plane, automobile respectively, optimize unmanned plane, the flight path of automobile, unmanned plane and automobile dispense parcel simultaneously, the logistics transportation risk of remote districts can be greatly reduced, reduce logistics cost and haulage time.
Description
Technical field
The present invention relates to intelligent express delivery technical field, more particularly to a kind of unmanned plane and automobile group towards remote districts
Box-like delivery system and allocator.
Background technology
With the development of unmanned air vehicle technique, the reliability and carrying capacity of unmanned plane are greatly improved, unmanned plane
Purchase with use cost rapid decrease, at present, unmanned plane is widely used in China's civil area.In delivery industry, unmanned plane
Have been used for the short-range parcel distribution industry business in city, but such business has some obvious restraining factors：First, city
Interior unmanned plane parcel dispatching, faces responsible City Building, trees distribution, unmanned plane collision prevention and safety problem, is one
Very big challenge；In addition, a series of control regulation, the nothing in downtown area have been put into effect in low-latitude flying of the country to unmanned plane
The dispatching of man-machine parcel, the problem of facing " flying not high ".
The vast remote districts in China, the level of economic development is relatively low, Transportation facilities construction hysteresis, these
The parcel express delivery in area faces some problems：First, parcel express delivery amount is not high, directly dispensed with automobile, then thing
It is too high to flow cost；Second, these areas are often obstructed by mountain, river, road is roundabout and condition of road surface is not good enough, is entered with automobile
The safety problem of row parcel dispatching is difficult to ensure.In the relatively small number of remote districts of population, the low-latitude flying control phase of unmanned plane
To loose, and the problem of rarer collision prevention and flight safety.Therefore, this technology invention synthesis uses unmanned plane, automobile and parcel
Receiving magazine, carry out the logistics distribution of remote districts.
Chinese patent literature CN201620108719.1 proposes a kind of unmanned plane express system, the system by unmanned plane and
The express delivery cabinet composition of each site is distributed in, there is the device of fixed unmanned plane undercarriage in express delivery cabinet top portion, set in fixing device
The identification direction is provided with directive sign, below unmanned plane and indicates and control the figure that it is landed according to preset direction
As identifying system.Chinese patent literature CN201510240751.5 provides a kind of unmanned plane freight transportation method and system, should
Method sets landing identification icon on ground, and unmanned plane flies to overhead and carries out image identification search automatically, such as searches for successfully, nobody
Machine then lands, the transport wrapped up.It is automatic that Chinese patent literature CN201520244456.2 provides a kind of unmanned plane express delivery
Reception system, the system include connecing goods dolly, hoistable platform and receive window.Above-mentioned patent document lays particular emphasis on unmanned plane express delivery system
The composition of system, the logistics distribution point distribution situation of remote districts is not considered.Chinese patent literature CN201520606406.4 is proposed
A kind of intelligent express system, after logistics automobile reaches anchor point, parcel is manually fixed on unmanned plane, unmanned plane is according to excellent
The flight path flight of change, and parcel is put into intelligent cabinet, while notify client's picking.The logistics automobile of above-mentioned patent document
Anchor point is only parked in, is remained static, dispatching is wrapped up parallel not together with unmanned plane, is not directed to how specifically to optimize nobody
The flight path of machine, this is unfavorable for reducing logistics distribution cost and shortens the logistics distribution time, in addition, the patent document is not also examined
Consider the logistics distribution point distribution situation of remote districts.
The content of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of nothing towards remote districts
Man-machine and automobile combined type delivery system and allocator.
Technical scheme is used by realize the purpose of the present invention：
A kind of unmanned plane and automobile combined type allocator towards remote districts, including lower step：
1) automobile delivers the unmanned plane for wrapping up and being mounted with parcel to the starting point in dispatching region, described dispatching region bag
Include multiple unmanned plane dispatching points and automobile dispatching point；
2) automobile drives towards dispatching region terminal by automobile Distribution path, while travels through described automobile dispatching point and dispense,
By unmanned plane distribution strategy, unmanned plane, which is taken off from starting point or midway and is distributed to parcel after the unmanned plane specified dispenses point, to make a return voyage
To dispatching region terminal, wherein each unmanned plane dispatching point is at most dispensed by a unmanned plane；
3) after whole unmanned planes make a return voyage and load to described automobile, complete dispatching.
Described unmanned plane dispatching point is the roundabout transport of needs or dispatching road quality classification is level Four and following dispatching point.
Described unmanned plane is provided with catapult-launching gear with Assisted Take Off or direct VTOL.
Described superscribing is provided with RFID label tag, and described unmanned plane dispatching point and automobile dispatching point include parcel respectively
Receiving magazine, RFID reader and wireless communication module, after parcel is thrown into parcel receiving magazine, RFID reader reads parcel
Information, and issue the user with arrival notice.
Parcel arrival notice is sent to user mobile phone by 3G or 4G wireless communication techniques.
The computational methods of described automobile Distribution path are：
1) starting point, terminal and automobile are dispensed into point one set of composition；Automobile needs to carry out each point in set
Traversal is once；
2) automobile Distribution path problem is converted into traveling salesman problem, using heuritic approach, solves and matches somebody with somebody apart from most short
Send path；
3) access path of specified beginning and end is deleted, remaining path is automobile Distribution path.
The computational methods of unmanned plane distribution strategy are：
Using the quantity of unmanned plane, maximum flying distance as constraint, each unmanned plane dispatching point is only dispensed by a frame unmanned plane,
Unmanned plane is taken off from starting point or automobile dispatching point, and corresponding unmanned plane dispatching point is dispensed, and is then maked a return voyage to dispatching region
Terminal lands.
Multi-objective optimization algorithm of the unmanned plane distribution strategy based on decomposition and elitism strategy solves, and the feature of the algorithm is：
1) optimization aim is decomposed into two subproblems, when the unmanned plane minimum number used, second, unmanned plane is matched somebody with somebody
Send shortest path；
2) flight path populations more than 100 paths of unmanned plane is generated, the weight vectors of every flight path are 2
It is less than 1 real number more than 0；And corresponding neighborhood flight path, neighborhood number of paths >=5；Flight path population is provided with mesh
Scalar functions reference point；
3) based on the flight path of unmanned plane, using the maximum flying distance of unmanned plane as constraints, to the flight
Path carries out subpath division, it is ensured that the maximum flying distance of of length no more than unmanned plane per single sub path, it can thus be concluded that arriving
The unmanned plane dispatching point quantity and the quantity of subpath that subpath includes；Generate every flight path and correspond to target function value；
Using the minimum flight path of target function value as elite path, object function reference point is updated；
4) Chebyshev of each flight path is worth in neighborhood where calculating elite path, and every flight path is corresponding with real number
Weighted value and target function value, then its corresponding Chebyshev's value=max { real number weights value * (target function value-object function
The value of reference point) }；When Chebyshev's value of the Chebyshev's value≤neighborhood flight path in elite path, then with elite path generation
For other flight paths in neighborhood, renewal unmanned plane during flying path population, elitism strategy is realized；
5) intersection and mutation probability, crossover probability is set to be set to 0.7-0.9, mutation probability is set to 0.1-0.15, to all
Flight path carries out class crossover operation and backward mutation operation, improves the diversity of flight path；
6) target function value of each flight path of flight path population after intersecting, making a variation is calculated, finds out target letter
The minimum flight path of numerical value updates object function reference point as elite path；
7) calculation procedure 6) in each flight path of neighborhood where gained elite path Chebyshev's value, when elite path
Chebyshev's value≤neighborhood flight path Chebyshev value, then replace neighborhood flight path with elite path, update nobody
Machine flight path population, realizes elitism strategy；
8) the 5) step is returned, loop iteration is carried out, calculates the flight path of optimal unmanned plane, obtain the quantity of unmanned plane
With the dispatching track of each unmanned plane.
In the Optimized model of unmanned plane distribution strategy, the quantity of logistics distribution point is n, specifies beginning and end to be designated as respectively
0 and n+1, available unmanned plane quantity are m framves, DijIt is the distance of Distribution path (i, j), FuIt is that the maximums of u frame unmanned planes flies
Row distance；Optimized model is：
1)
2)
3)
4)
5)
6)
7)
8)
9)xuij={ 0,1 }
Wherein, formula (1) is object function 1, the unmanned plane minimum number used；Formula (2) is object function 2, nobody
The Distribution path of machine is most short；Formula (3) is meant that unmanned plane takes off from specified starting point；Formula (4) is meant that unmanned plane
Land in specified terminal；Formula (5) is meant that to fly for any one frame unmanned plane, the distance of dispatching no more than its maximum
Row distance；Formula (6) is meant that the number of aircraft reached home is no more than existing unmanned plane quantity；The implication of formula (7)
It is to be reached for any one logistics distribution point, be up to a frame unmanned plane, formula (8) is meant that for any one logistics
Point is dispensed, a be up to frame unmanned plane leaves；Formula (9) is decision variable, when u framves unmanned plane passes through Distribution path (i, j)
When, xuijValue is 1.
A kind of unmanned plane and automobile combined type delivery system towards remote districts, including automobile, to deliver parcel
Unmanned plane, and the dispatching region of multiple dispatching points is included, described dispatching region includes automobile dispatching point and unmanned plane dispatching
Point, superscribe and be provided with RFID label tag, described dispatching point includes parcel receiving magazine, RFID reader and wireless telecommunications mould
Block, after parcel is thrown into parcel receiving magazine, RFID reader reads package information and sent out by wireless communication module to user
Go out arrival notice, it is characterised in that the destination county in dispatching region is provided with airplane parking area.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention considers the geographical distribution situation of the logistics distribution point of remote districts, carries out the classification of logistics distribution point, point
Logistics distribution, optimization unmanned plane, the flight path of automobile are not carried out by unmanned plane, automobile, unmanned plane and automobile dispense bag simultaneously
Wrap up in, the logistics transportation risk of remote districts can be greatly reduced, reduce logistics cost and haulage time.
Brief description of the drawings
Fig. 1 is the unmanned plane and automobile combined type delivery system structural representation towards remote districts.
Fig. 2 is logistics distribution point distribution schematic diagram.
Fig. 3 is the route schematic diagram that automobile-unmanned plane dispenses parcel parallel.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
The unmanned plane and automobile combined type delivery system towards remote districts of the present invention includes automobile 1, to deliver bag
The unmanned plane 2 wrapped up in, and the dispatching region of multiple dispatching points is included, described dispatching region includes automobile dispatching point and unmanned plane
Point is dispensed, RFID label tag 31 is provided with parcel 3, described dispatching point includes parcel receiving magazine 4, RFID reader and wireless
Communication module, after parcel is thrown into parcel receiving magazine, RFID reader reads package information and issues the user with arrival notice.
Wherein, the destination county in dispatching region is provided with airplane parking area.Described wireless communication module be 3G or 4G wireless communication modules with
Parcel arrival notice is sent to user mobile phone 5.
Described unmanned plane bottom is provided with more position in storehouse freight houses and parcel catapult-launching gear, the dispatching unmanned plane and goods
Ejection type unloading etc. mechanism similarly to the prior art, not reinflated description herein.
Automobile and unmanned plane are combined by the present invention, realize the classification delivery in certain area, speed is fast, reduces remote mountain
Area is described because road conditions are bad or cost of transportation and risk in transit caused by the problems such as roundabout excessive caused by mountain great river
A diameter of 10-20km in region is dispensed, by classifying rationally region, realizes and organically combines, ensure delivery efficiency and security, together
When, described unmanned plane is battery-powered, and unmanned plane charging station is provided with described automobile.Entered using subregion timesharing
OK, total effective endurance of unmanned plane is enhanced.
The unmanned plane and automobile combined type allocator towards remote districts of the present invention, comprises the following steps：
1) automobile delivers the unmanned plane for wrapping up and being mounted with parcel to the starting point in dispatching region, described dispatching region bag
Include multiple unmanned plane dispatching points and automobile dispatching point；
2) automobile drives towards dispatching region terminal by automobile Distribution path, while travels through described automobile dispatching point and dispense,
Unmanned plane, which is taken off from starting point or midway and is distributed to parcel after the unmanned plane specified dispenses point, to make a return voyage to dispatching region terminal, its
In each unmanned plane dispatching point at most have a unmanned plane dispatching；
3) after whole unmanned planes make a return voyage and load to automobile, complete dispatching.
Often there are river, mountain barrier in remote districts, and part road conditions are poor, such as dispensed using traditional automobile
, certain transportation safety hidden danger be present, while need roundabout transport in parcel, if distance/linear transport of roundabout transport away from
From >=2, cause logistics cost and time to dramatically increase, therefore, there is river, mountain to obstruct remote districts, road conditions
Difference, it is level Four and following logistics distribution point such as to dispense road quality classification, distributes to unmanned plane and is dispensed, residue dispatching point distribution
Dispensed to automobile.The starting point specified is set in Delivery Area, and the setting condition of starting point includes：First, starting point
In open, flat region, be advantageous to the landing of storing cycle and unmanned plane；2nd, in starting point 10-20 kilometer radius scopes
It is interior, there is the logistics distribution point multiple, such as nearly ten or more than ten settings are more fixed；3rd, starting point is landed provided with unmanned plane
Horizontal field, horizontal field area be no less than 10 square metres.Starting point, in a certain dispatching region, can be pressed by logistics company
According to mentioned above principle, unified planning in advance, construction.
Multiple UAVs and an automobile are advantageous in automotive interior to the same fashionable dress of multiple UAVs in same starting point
Carry and wrap up, reduce the time for loading goods repeatedly, in batches, meanwhile, it is also beneficial to that quantity and position that parcel dispenses point is determined in advance
Confidence ceases, and carries out the optimization of unmanned plane distribution route in advance, reduces the flight time of unmanned plane.For popular, plan, unite in advance
One loads, unification dispenses, be cost-effective, and unmanned plane flies by both fixed tracks, reduces intermediate communication link, avoids communication letter
Number lose, reduce communication link.
Described unmanned plane is provided with catapult-launching gear or automobile and is provided with catapult-launching gear to realize Assisted Take Off, when
So, can also be vertically moved up or down, described superscribing is provided with RFID label tag, and described unmanned plane dispatching point includes parcel and connect
Case, RFID reader and wireless communication module, unmanned plane or driver is received to be thrown to parcel after wrapping up receiving magazine,
RFID reader reads package information, and issues the user with arrival notice, such as by 3G or 4G wireless communication techniques to user's hand
Machine sends parcel arrival notice.
Wherein, the computational methods of described automobile Distribution path are：
1) starting point, terminal and automobile are dispensed into point one set of composition；Automobile needs to carry out each point in set
Traversal is once；
2) automobile Distribution path problem is converted into traveling salesman problem (Traveling Salesman Problem), using opening
Hairdo algorithm, solve the most short Distribution path of distance；
3) access path of specified beginning and end is deleted, remaining path is automobile Distribution path.
Wherein, the computational methods of unmanned plane distribution strategy are,
1) optimization aim is decomposed into two subproblems, when the unmanned plane minimum number used, second, unmanned plane is matched somebody with somebody
Send shortest path；
2) flight path populations more than 100 paths of unmanned plane is generated, the weight vectors of every flight path are 2
It is less than 1 real number more than 0；And corresponding neighborhood flight path, neighborhood number of paths >=5；Flight path population is provided with mesh
Scalar functions reference point, i.e., the object function reference point initial state of each flight path are identical；
For example object function reference point is arranged to (4,60), wherein 4 represent 4 frame unmanned aerial vehicles, 60 represent Distribution path as
60km, the effect of the value are provides reference for follow-up target function value renewal, and described two real number sums are 1, respectively with
Two targets, i.e. unmanned plane minimum number and Distribution path are most short corresponding.
3) based on the flight path of unmanned plane, using the maximum flying distance of unmanned plane as constraints, to the flight
Path carries out subpath division, it is ensured that the maximum flying distance of of length no more than unmanned plane per single sub path, it can thus be concluded that arriving
The unmanned plane dispatching point quantity and the quantity of subpath that subpath includes；Generate every flight path and correspond to target function value；
Go out the minimum flight path of target function value as elite path, update object function reference point；
After a wherein flight path division, its subpath quantity, it is possible to determine the usage quantity of unmanned aerial vehicle, so
Afterwards, it is cumulative to can determine that the cruising range for drawing unmanned aerial vehicle according to the length of every single sub path.The usage quantity of unmanned aerial vehicle and
The cruising range of unmanned aerial vehicle forms target function value.Such as, it is assumed that beginning and end is A and B respectively, and unmanned plane dispatching point is made
For a set, unmanned aerial vehicle returns to terminal, is 7 as unmanned plane dispenses point number, then generates the whole of 1-7 from starting point
Number random number series, generation travel through the flight path population of 7 points, such as 1-2-3-4-5-6-7,4-3-2-1-5-6-7,6-3-2-
The numbering of 1-5-4-7 etc., wherein digitized representation unmanned plane dispatching point, integer random number series generation 100 times at random then obtain
To 100 flight paths, these paths form a population.Real number is greater than 0 number for being less than 1, the sum that two real numbers add up
It is 1, such as 0.35 and 0.65,0.55 and 0.45；Neighborhood refers to and a certain bar flight path (6-3-2-1-5-4- as the aforementioned
7) adjacent other flight paths, such as the flight path of the 23rd, 47, No. 78 positioned at population, neighborhood path are used to subsequently walk
Rapid intersection, mutation operation, to improve the optimizing ability of algorithm.
Such as, it is 6-3-2-1-5-4-7 for flight path, whether the distance for analyzing subpath A-6-B first is more than nobody
The maximum flying distance of aircraft, if being not more than, then analyze the maximum whether subpath A-6-3-B is more than unmanned aerial vehicle
Flying distance, if being not more than, then the maximum flying distance whether subpath A-6-3-2-B is more than unmanned aerial vehicle is analyzed,
If more, then subpath A-6-3-B is the first paths；Then, based on remaining path 2-1-5-4-7, press
The above method, continue subpath division, until all terminus or dispatching point division finish.Such as last division result
For A-6-3-B, A-2-1-5-4-B and A-7-B, then 3 unmanned subpaths are shared, calculate and correspond to target function value per paths；
According to each unmanned plane dispatching point and the geographical coordinate of terminus, the Euclidean distance done between points calculates, it may be determined that
Length per single sub path.Assuming that 3 single sub path length are respectively 10km, 12km, 15km, then corresponding to the flight path nobody
Aircraft dispatching distance is 10+12+15=37km.Then the target function value of the flight path is (3,37).
4) Chebyshev of each flight path is worth in neighborhood where calculating elite path, and every flight path is corresponding with real number
Weighted value and target function value, then its corresponding Chebyshev's value=max { real number weights value * (target function value-object function
The value of reference point) }；When Chebyshev's value of the Chebyshev's value≤neighborhood flight path in elite path, then with elite path generation
For other flight paths in neighborhood, renewal unmanned plane during flying path population, elitism strategy is realized；
5) intersection and mutation probability, crossover probability is set to be set to 0.7-0.9, mutation probability is set to 0.1-0.15, to all
Flight path carries out class crossover operation and backward mutation operation, improves the diversity of flight path；
The purpose of cross and variation is that flight path is disturbed, and improves the diversity of flight path, in order to find out most
Excellent flight path；Flight path changes, then Chebyshev's value ensues change.
6) target function value of each flight path of flight path population after intersecting, making a variation is calculated, finds out target letter
The minimum flight path of numerical value updates object function reference point as elite path；
7) calculation procedure 6) in each flight path of neighborhood where gained elite path Chebyshev's value, when elite path
Chebyshev's value≤neighborhood flight path Chebyshev value, then replace neighborhood flight path with elite path, update nobody
Machine flight path population, realizes elitism strategy；
8) the 5) step is returned, loop iteration is carried out, calculates the flight path of optimal unmanned plane, obtain the quantity of unmanned plane
With the dispatching track of each unmanned plane, end condition is maximum iteration, is typically set to 300-500 times.
Meanwhile for different unmanned planes and different tracks, to realize final preferably execution, unmanned plane includes multiple
The unmanned plane of different bearer ability is to carry out package distribution.
Specifically, in unmanned plane distribution strategy, the quantity of logistics distribution point is n, specifies beginning and end to be designated as 0 He respectively
N+1, available unmanned plane quantity are m framves, DijIt is the distance of Distribution path (i, j), FuBe u frame unmanned planes maximum flight away from
From；Optimized model is：
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)xuij={ 0,1 }
Wherein, formula (1) is object function 1, the unmanned plane minimum number used；Formula (2) is object function 2, nobody
The Distribution path of machine is most short；Formula (3) is meant that unmanned plane takes off from specified starting point；Formula (4) is meant that unmanned plane
Land in specified terminal；Formula (5) is meant that to fly for any one frame unmanned plane, the distance of dispatching no more than its maximum
Row distance；Formula (6) is meant that the number of aircraft reached home is no more than existing unmanned plane quantity；The implication of formula (7)
It is to be reached for any one logistics distribution point, be up to a frame unmanned plane, formula (8) is meant that for any one logistics
Point is dispensed, a be up to frame unmanned plane leaves；Formula (9) is decision variable, when u framves unmanned plane passes through Distribution path (i, j)
When, xuijValue is 1.
Refer to the attached drawing, carry out in conjunction with specific embodiments exemplary illustrated：
1) classification of logistics distribution point.Remote districts there are into river, mountain barrier, the logistics distribution of road conditions difference
Point, distribute to unmanned plane and dispensed, residue dispatching point is distributed to automobile and dispensed.As shown in Fig. 2 logistics distribution point 6,7,
10th, 11 automobile is distributed to, logistics distribution point 1,2,3,4,5,8,9 distributes to unmanned plane.
2) automobile Distribution path optimizes.
1. the specified starting point (A in Fig. 2) and terminal (B in Fig. 2) of running car are set, by dispatching point, starting point, terminal
One set of composition, automobile need to travel through once each point in set；
2. automobile Distribution path problem is converted into traveling salesman problem (Traveling Salesman Problem), using opening
Hairdo algorithm, the most short Distribution path of distance is solved, such as the A-11-7-10-6-B-A in Fig. 3；
3. on the basis of above-mentioned path optimizing, the access path of specified beginning and end is deleted into (the B- in such as Fig. 2
A), using remaining path (A-11-7-10-6-B in such as Fig. 3) as the automobile Distribution path after optimization.
3) unmanned plane Distribution path optimizes.
1. by the specified starting point (A in Fig. 2) and terminal (B in Fig. 2) of running car, respectively as taking off for unmanned plane
Point, level point；
2. using the quantity of unmanned plane, maximum flying distance as constraint, each logistics distribution point is only dispensed by a frame unmanned plane,
Unmanned plane takes off from takeoff point (A in Fig. 2), corresponding logistics distribution point is dispensed, then in level point (in Fig. 2
B) land, it is most short for optimization aim with the unmanned plane minimum number, the unmanned plane dispatching distance that use, establish unmanned plane Distribution path
Optimized model, with multiple target inspire optimized algorithm, it is determined that required unmanned plane quantity and the distribution route of unmanned plane.Such as
Shown in Fig. 3, there is a dispatching that 2 frame unmanned planes are wrapped up, the distribution route of the 1st frame unmanned plane is A-9-3-2-B, the 2nd frame nobody
The distribution route of machine is A-8-5-4-1-B.
Automobile-unmanned plane dispenses parcel parallel.In specified starting point (A in Fig. 3), automobile, unmanned plane start simultaneously at parcel
Dispatching, automobile carries out parcel dispatching according to the Distribution path of optimization, such as the A-11-7-10-6-B in Fig. 3；2 frame unmanned planes according to
The Distribution path of optimization carries out parcel dispatching, such as the A-9-3-2-B and A-8-5-4-1-B in Fig. 3, after the completion of dispatching task, and vapour
Car, unmanned plane return to specified terminal (B in Fig. 3) respectively.
4) package information is noticed.Unmanned plane enters thing to the delivery of packages of logistics post 1,2,3,4,5,8,9 when there is new package delivering
When flow point wraps up receiving magazine, its RFID reader reads the electronic labeling information of parcel, and by wireless 3G, 4G mechanics of communication,
Parcel arrival notice is sent to user mobile phone.
Described above is only the preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane and automobile combined type allocator towards remote districts, it is characterised in that comprise the following steps：
1) automobile delivers the unmanned plane for wrapping up and being mounted with parcel includes more to the starting point in dispatching region, described dispatching region
Individual unmanned plane dispatching point and automobile dispatching point；
2) automobile drives towards dispatching region terminal by automobile Distribution path, while travels through described automobile dispatching point and dispense, by nothing
Man-machine distribution strategy, unmanned plane from starting point or midway take off and by wrap up be distributed to specify unmanned plane dispatching point after make a return voyage to
Region terminal is sent, wherein each unmanned plane dispatching point is at most dispensed by a unmanned plane；
3) after whole unmanned planes make a return voyage and load to described automobile, complete dispatching.
2. as claimed in claim 1 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that institute
The unmanned plane dispatching point stated is the roundabout transport of needs or dispatching road quality classification is level Four and following dispatching point.
3. as claimed in claim 1 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that institute
The unmanned plane stated is provided with catapult-launching gear with Assisted Take Off or direct VTOL.
4. as claimed in claim 3 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that institute
Superscribing for stating is provided with RFID label tag, described unmanned plane dispatching point and automobile dispatching point respectively include parcel receiving magazine,
RFID reader and wireless communication module, after parcel is thrown into parcel receiving magazine, RFID reader reads package information, and
Issue the user with arrival notice.
5. as claimed in claim 4 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that logical
Cross 3G or 4G wireless communication techniques and send parcel arrival notice to user mobile phone.
6. as claimed in claim 1 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that institute
The computational methods for the automobile Distribution path stated are：
1) starting point, terminal and automobile are dispensed into point one set of composition；Automobile needs to travel through each point in set
Once；
2) automobile Distribution path problem is converted into traveling salesman problem, using heuritic approach, solves the most short dispatching road of distance
Footpath；
3) access path of specified beginning and end is deleted, remaining path is automobile Distribution path.
7. as claimed in claim 1 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that nothing
The computational methods of man-machine distribution strategy are：
Using the quantity of unmanned plane, maximum flying distance as constraint, each unmanned plane dispatching point is only dispensed by a frame unmanned plane, nobody
Machine is taken off from starting point or automobile dispatching point, and corresponding unmanned plane dispatching point is dispensed, and is then maked a return voyage to dispatching region terminal
Landing.
8. as claimed in claim 7 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that nothing
Multi-objective optimization algorithm of the man-machine distribution strategy based on decomposition and elitism strategy solves, and the feature of the algorithm is：
1) optimization aim is decomposed into two subproblems, when the unmanned plane minimum number used, second, the dispatching road of unmanned plane
Footpath is most short；
2) flight path populations more than 100 paths of unmanned plane is generated, the weight vectors of every flight path are more than for 2
0 is less than 1 real number；And corresponding neighborhood flight path, neighborhood number of paths >=5；Flight path population is provided with target letter
Number reference point；
3) based on the flight path of unmanned plane, using the maximum flying distance of unmanned plane as constraints, to the flight path
Carry out subpath division, it is ensured that the maximum flying distance of of length no more than unmanned plane per single sub path, it can thus be concluded that arriving sub- road
The unmanned plane dispatching point quantity and the quantity of subpath that footpath includes；Generate every flight path and correspond to target function value；By mesh
The minimum flight path of offer of tender numerical value updates object function reference point as elite path；
4) Chebyshev of each flight path is worth in neighborhood where calculating elite path, and every flight path is corresponding with real number weights
Value and target function value, then { (target function value-object function refers to real number weights value * its corresponding Chebyshev's value=max
The value of point) }；When Chebyshev's value of the Chebyshev's value≤neighborhood flight path in elite path, then neighbour is replaced with elite path
Other flight paths in domain, renewal unmanned plane during flying path population, realize elitism strategy；
5) intersection and mutation probability, crossover probability is set to be set to 0.7-0.9, mutation probability is set to 0.1-0.15, to all flights
Path carries out class crossover operation and backward mutation operation, improves the diversity of flight path；
6) target function value of each flight path of flight path population after intersecting, making a variation is calculated, finds out target function value
Minimum flight path updates object function reference point as elite path；
7) calculation procedure 6) in each flight path of neighborhood where gained elite path Chebyshev's value, when cutting for elite path
Than the Chebyshev's value for avenging husband's value≤neighborhood flight path, then neighborhood flight path is replaced with elite path, renewal unmanned plane flies
Walking along the street footpath population, realizes elitism strategy；
8) the 5) step is returned, loop iteration is carried out, calculates the flight path of optimal unmanned plane, obtains the quantity of unmanned plane and every
The dispatching track of individual unmanned plane.
9. as claimed in claim 7 towards the unmanned plane and automobile combined type allocator of remote districts, it is characterised in that nothing
In the Optimized model of man-machine distribution strategy, the quantity of logistics distribution point is n, specifies beginning and end to be designated as 0 and n+1 respectively, can
Unmanned plane quantity is m framves, DijIt is the distance of Distribution path (i, j), FuIt is the maximum flying distance of u frame unmanned planes；It is excellent
Changing model is：
1)
2)
3)
4)
5)
6)
7)
8)
9)xuij={ 0,1 }
Wherein, formula (1) is object function 1, the unmanned plane minimum number used；Formula (2) is object function 2, unmanned plane
Distribution path is most short；Formula (3) is meant that unmanned plane takes off from specified starting point；Formula (4) is meant that unmanned plane is referring to
Fixed terminal landing；Formula (5) is meant that for any one frame unmanned plane, the distance of dispatching be no more than its maximum flight away from
From；Formula (6) is meant that the number of aircraft reached home is no more than existing unmanned plane quantity；Formula (7) is meant that pair
In any one logistics distribution point, a be up to frame unmanned plane is reached, and formula (8) is meant that for any one logistics distribution
Point, be up to a frame unmanned plane leave；Formula (9) is decision variable, when u framves unmanned plane passes through Distribution path (i, j),
xuijValue is 1.
A kind of 10. unmanned plane and automobile combined type delivery system towards remote districts, it is characterised in that including automobile, to
Deliver parcel unmanned plane, and include it is multiple dispatching point dispatching regions, described dispatching region include automobile dispatching point and
Unmanned plane dispenses point, superscribes and is provided with RFID label tag, and described dispatching point includes parcel receiving magazine, RFID reader and nothing
Line communication module, after parcel is thrown into parcel receiving magazine, RFID reader reads package information and passes through wireless communication module
Issue the user with arrival notice, it is characterised in that the destination county in dispatching region is provided with airplane parking area.
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