As people get increasingly busy, more and more consumers prefer online shopping that leads to a large number of goods need to be transported. The researches on logistic route planning have attracted extensive attentions. Although a number of routing problems have been proposed, most of them may not be directly applied to this problem because real logistic constraints are not considered such as vehicle capacity, logistic requirements, etc. In this paper, we propose a novel approach named Partition-Routing-Insertion Navigator (PRI-Navigator) to efficiently find high quality logistic routes meeting logistic constraints by considering both of pick-up and delivery requirements. In PRI-Navigator, we design various strategies and algorithms for goods partition, route planning and goods insertion. To the best of our knowledge, this is the first work on logistic rout planning that considers the pick-up and delivery requirements together and keeps high efficiency of route planning, simultaneously. Through extensive experimental evaluations and comparisons on real logistic datasets, PRI-Navigator were shown to deliver excellent performance.