CN116795132A

CN116795132A - Express delivery transportation method and device of unmanned aerial vehicle and electronic equipment

Info

Publication number: CN116795132A
Application number: CN202310588467.1A
Authority: CN
Inventors: 殷书琦; 刘永; 殷明华
Original assignee: Shenzhen Jingbo Smart Energy Technology Co ltd
Current assignee: Shenzhen Jingbo Smart Energy Technology Co ltd
Priority date: 2023-05-22
Filing date: 2023-05-22
Publication date: 2023-09-22

Abstract

The application relates to an unmanned aerial vehicle express delivery transportation method, an unmanned aerial vehicle express delivery transportation device and electronic equipment, and relates to the technical field of express delivery transportation. The method is applied to a logistics server, and comprises the following steps: acquiring an unmanned aerial vehicle logistics channel map and a building mark in a city; planning an unmanned aerial vehicle logistics channel, wherein the unmanned aerial vehicle logistics channel is formed by connecting a plurality of flight channels in an unmanned aerial vehicle logistics channel map in series so as to connect a distributed mark and a delivery mark in a building mark; distributing the unmanned aerial vehicle logistics channel to an unmanned aerial vehicle control platform, and recording the identification of the assigned unmanned aerial vehicle; receiving unmanned aerial vehicle information corresponding to the identifier; and when the flight position of the unmanned aerial vehicle exceeds the channel periphery boundary of the flight channel, sending first warning information, restarting the unmanned aerial vehicle logistics channel re-planned in the previous step, and distributing the unmanned aerial vehicle logistics channel. By implementing the technical scheme provided by the application, the unmanned aerial vehicles can conveniently execute reasonably planned express logistics channels, and the probability of collision between the unmanned aerial vehicles and other objects is reduced.

Description

Express delivery transportation method and device of unmanned aerial vehicle and electronic equipment

Technical Field

The application relates to the technical field of express logistics, in particular to an unmanned aerial vehicle express transportation method, an unmanned aerial vehicle express transportation device and electronic equipment.

Background

With the development of science and technology, online shopping becomes a trend, and people's daily life is more and more free from online shopping. However, with the gradual increase of online shopping services, great pressure is brought to express transportation. When the express pressure is increased, the timeliness of delivering the express to each family is greatly reduced. In order to relieve the pressure of delivering the express to each family through the land, an express unmanned aerial vehicle is generated.

However, when a large number of express delivery unmanned aerial vehicles are used for logistics distribution, the speed of the unmanned aerial vehicle is high or low, the speed of the unmanned aerial vehicle is low or the speed of the unmanned aerial vehicle is high or low, and the size of the unmanned aerial vehicle is high or low due to different goods weights, sizes or performances of the unmanned aerial vehicles. Therefore, a plurality of flying unmanned aerial vehicles may collide with each other to drop, thereby affecting road safety.

Therefore, there is a need for an unmanned aerial vehicle express delivery method, device and electronic equipment.

Further analysis, a german business in patent CN111819610a discloses an air situation information and traffic management system for unmanned and manned aircraft, by means of which the position data of the aircraft are captured, tracked and displayed in an air situation map by means of ATM sensors of the air situation information and traffic management system. In addition, a tracking device is provided in the data network and is provided for tracking the captured position data and processing it as an air situation map, so that the air situation map can be displayed on a display device connectable to the data network. Furthermore, the aircraft, which cannot be detected by the ATM sensor, is equipped with a portable position sensor device of the air situation information and traffic management system, wherein the portable position sensor device is provided for capturing current position data and for communicating with a ground station connected to the data network via a radio communication device and for placing the position data in the data network, so that the air situation map can be displayed on a display device connectable to the data network. Thus, as part of the drone, the overall effect of the prior art of this related patent is to acquire and display in an aerial situation map the position data of the drone, which allows the operator to prioritize the flight and/or to plan the mission to control the intervention of the drone, or even to make it automatically operate in the future, based on more accurate information. The prior art traffic management system of the related patent cannot instruct how to apply to the logistics server to solve the problem that the calculation power of the unmanned aerial vehicle in express delivery is required to be huge and collide with the air.

An enterprise in the united states discloses an apparatus, system, and method for a drone, personal drone (UAV) and UAV universal docking port incorporated into and/or attached to headgear, footwear, clothing, apparatus, equipment, land vehicles, air vehicles, water vehicles and space vehicles, UAV, buildings, wireless towers, and other moving or stationary objects and surfaces, collectively referred to as "docking stations," in the invention patent CN108137153 a. The docking station may have one or more docking ports for UAV docking, networking, and charging or fueling. The docking port may also include wireless power transmission for remote wireless charging of one or more UAVs. The UAV docking port may be integrated with a variety of sensors (e.g., light emitters and cameras) capable of fully and/or semi-autonomously transmitting the UAV and/or docking the UAV on a docking port on a series of docking stations. In particular, the drone is configured as a UA capable of being launched from and landed on a helmet; helmets are particularly military helmets, but helmets can also take many other forms, including a variety of sports helmets and safety helmets, as well as other headgear such as hats. The docking station of the related patent is a part of portable equipment, and cannot be used for guiding a logistics server to solve the problem that the calculation force of the unmanned aerial vehicle in express delivery is required to be huge and collide with the air.

The invention patent CN111819610A of a natural person in China discloses an auxiliary traffic guidance management system based on an unmanned aerial vehicle, which comprises an unmanned aerial vehicle main body, mobile base stations, an information acquisition mechanism, a control processor, a monitoring mechanism and a region dividing mechanism, wherein a plurality of mobile base stations are respectively arranged at a traffic intersection, the information acquisition mechanism comprises a positioning detection device, a speed detection device and an infrared camera detection device, the positioning detection device is arranged in a fixed threshold region of the traffic intersection, the infrared camera detection device is provided with a plurality of infrared camera detection devices and is respectively arranged at a forbidden line arranged at the traffic intersection, the region dividing mechanism comprises a first camera device, a second camera device and an image comparison and adjustment system, the first camera device is arranged in a wearable device of a traffic police, the monitoring mechanism comprises a third camera device, a fourth camera device and a traffic light adjustment system, and the monitoring device is connected with the unmanned aerial vehicle main body; the unmanned aerial vehicle main part is including showing suggestion device, voice prompt device. The auxiliary traffic guidance management system in the prior art of the related patent cannot instruct how to apply to a logistics server to solve the problem that the calculation power of the unmanned aerial vehicle in express delivery and transportation is required to be huge and collide with the air.

Disclosure of Invention

The application provides an express delivery transportation method, an express delivery transportation device and electronic equipment of unmanned aerial vehicles, which are convenient for the unmanned aerial vehicles to execute reasonable planning of express delivery logistics channels and reduce collision between the unmanned aerial vehicles and other objects.

In a first aspect of the present application, there is provided an express delivery transportation method of an unmanned aerial vehicle, applied to a logistics server, the express delivery transportation method comprising:

s1, acquiring an unmanned aerial vehicle logistics channel map and a building mark in a city, wherein the building mark comprises a distributed land mark and a delivery mark;

s2, planning an unmanned aerial vehicle logistics channel, wherein the unmanned aerial vehicle logistics channel mainly comprises a plurality of flight channels in the unmanned aerial vehicle logistics channel map which are connected in series so as to connect the distributed ground mark and the delivering mark;

s3, distributing the unmanned aerial vehicle logistics channel to an unmanned aerial vehicle control platform, and recording the identification of the assigned unmanned aerial vehicle so that the assigned unmanned aerial vehicle can transport articles from the distributed ground mark to the corresponding delivery mark or a nearby receiving ground in a manner of passing through the unmanned aerial vehicle logistics channel;

s4, receiving unmanned aerial vehicle information corresponding to the identification;

and S5, when the unmanned aerial vehicle information comprises information that the flight position of the assigned unmanned aerial vehicle exceeds the channel periphery boundary of the flight channel, sending first warning information to the unmanned aerial vehicle control platform, and distributing the unmanned aerial vehicle logistics channel which is re-planned based on the steps S1 and S2.

Through adopting above-mentioned basic scheme, when the unmanned aerial vehicle triggered the line-crossing flight of the flight channel of the unmanned aerial vehicle commodity circulation lane diagram of update version in the past in the unmanned aerial vehicle commodity circulation lane diagram flight delivery way, and then the square begins to trigger the lane update of follow-up unmanned aerial vehicle express delivery, the unmanned aerial vehicle collision problem that the unmanned aerial vehicle flight caused at the flight channel of old version unmanned aerial vehicle commodity circulation lane diagram in the flight delivery way in the time of reducing unmanned aerial vehicle commodity circulation lane diagram iteration still can also reduce the calculation of a large amount of updates planning unmanned aerial vehicle commodity circulation lane when unmanned aerial vehicle commodity circulation lane diagram iterates.

Optionally, in step S1, when the unmanned aerial vehicle logistics channel map is dynamically adjusted, the unmanned aerial vehicle logistics channel not yet planned in step S2 also changes; the unmanned aerial vehicle logistics channel map is formulated based on an instantaneous iteration city map, the city map comprises a green belt, and the flight channel preferentially selects a space on the green belt; the flying channel is a unidirectional channel; the system comprises a green belt, a logistics server and a first warning information, wherein the green belt is provided with a plurality of position sensors which are arranged at intervals, the position sensors dynamically record unmanned aerial vehicles in a flight channel and identify the marks of the unmanned aerial vehicles so as to obtain unmanned aerial vehicle information, and the unmanned aerial vehicle information comprises time deviated from the flight channel and images capable of identifying the marks so as to judge whether the first warning information is triggered or not by the logistics server.

Through adopting above-mentioned preferred scheme, the position according to the greenbelt in city sets for the flight channel to make unmanned aerial vehicle's flight channel avoid pedestrian and vehicle as far as possible, and then reduced between the unmanned aerial vehicle and the probability that other things such as pedestrian/vehicle bump, perhaps reduced the probability of pounding pedestrian/vehicle when unmanned aerial vehicle drops.

Optionally, in step S2, the flight channel does not meet and overlap with a unidirectional channel in the opposite direction in the unmanned aerial vehicle logistics channel map, and forms curvature convergence with a unidirectional channel in the vertical direction or the oblique direction in the unmanned aerial vehicle logistics channel map.

By adopting the preferable scheme, the flight channels in opposite flight directions are staggered, so that the probability of collision with the unmanned aerial vehicle in opposite flight is avoided.

Optionally, the unmanned aerial vehicle logistics channel includes the district that does not directly link to each other between the greenbelt that two series connection flight channels correspond, sets up position sensor on the road traffic sign position between two the greenbelt, and makes the flight channel passes through the road traffic sign. Optionally, the unmanned aerial vehicle information received in step S4 includes second warning information that the unmanned aerial vehicle is assigned to enter the flight channel for the first time, so that when the rescheduling based on steps S1 and S2 is restarted in step S5, the distributed flag in step S2 is replaced with the flight channel corresponding to the second warning information and the first warning information.

By adopting the preferable scheme, the road traffic sign is utilized as a transition platform between two discontinuous green belts, so that the unmanned aerial vehicle can fly from the upper part of the road traffic sign when not passing through the green belts. Because the pavement of pedestrians and the parking area of vehicles generally bypass or stagger the space below the road traffic sign, the probability that the unmanned aerial vehicle hits the pedestrians/vehicles is further avoided. By using the second warning information and the first warning information, if the unmanned aerial vehicle logistics channel map is updated in the city in the unmanned aerial vehicle flight process, only when the unmanned aerial vehicle exceeds the periphery boundary of the new flight channel, the exceeding new flight channel is needed to be used as a starting point, the unmanned aerial vehicle logistics channel of the subsequent journey is re-planned, and the unmanned aerial vehicle logistics channel is connected with the new flight channel which is exceeded to send the first warning information and the first entering second warning information and the delivering mark at the same time, so that the calculated data quantity and the calculated frequency of the unmanned aerial vehicle logistics channel are saved, and all calculation and planning are not needed.

Optionally, the express delivery transportation method further includes:

s61, based on prompt information of the distributed location marked to be shipped, sending dispatch information to a mobile terminal of a user, wherein the dispatch information comprises the time of an article reaching the distributed location;

S62, acquiring feedback information of the mobile terminal, wherein the feedback information comprises the user at-home pickup time;

s63, calculating the time of the express delivery reaching the delivery destination by taking the time of the express delivery reaching the distribution destination as a starting point based on the travel length;

s64, comparing whether the time for the unmanned aerial vehicle to reach the delivery site is within the home delivery time of the user, if the time exceeds the home delivery time of the user, designating the delivery site in the step S3 as a district delivery point, wherein the district delivery point is a temporary storage point of express delivery in a district; if the user is in the time of picking up goods, designating the receiving place in step S3 as a user address, wherein the user address includes a balcony, a roof, a private courtyard or other private space of the building user;

s65, sending the pickup information to the mobile terminal of the user, wherein the pickup information comprises the comparison of the position of the next cell receiving point or the user address and the time when the express delivery reaches the cell receiving point or the user address.

By adopting the above preferred scheme, when the time for the express delivery to reach the delivery destination exceeds the user's home pickup time, there may be a case that the user is not at home. The delivery information is fed back to collect the time of picking up goods at home in advance, the time that the unmanned aerial vehicle arrives at the delivering place is calculated according to the flight channel of the unmanned aerial vehicle, if the unmanned aerial vehicle arrives at the receiving address of the user, the user is not at home, the user is indicated to be inconvenient to pick up the goods at the moment, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle control platform to transport the express delivery to the receiving point of the district of the user, and accordingly the express delivery is temporarily stored in the receiving point of the district, the position of the receiving point of the district and the time that the express delivery arrives at the receiving point of the district are transmitted to the mobile terminal of the user, and the user can conveniently go to the receiving point of the district to pick up the goods according to own planning.

Optionally, the express delivery transportation method further includes:

collecting logistics information of the distributed marks;

when the collecting and distributing places mark prompt information of to-be-shipped, further collecting corresponding to-be-received delivering places, and calculating the travel length of the flight channel series connection between the collecting and distributing places and the delivering places;

s63, calculating estimated power consumption of unmanned aerial vehicle flight based on the stroke length;

and acquiring the current electric quantity of the unmanned aerial vehicle staying in the distributed area, and if the current electric quantity is larger than the estimated power consumption, sending a flight instruction to the unmanned aerial vehicle control platform along with the unmanned aerial vehicle logistics channel.

Through adopting above-mentioned preferred scheme, according to the estimated power consumption of travel length calculation unmanned aerial vehicle to be convenient for dispatch the unmanned aerial vehicle that the electric quantity is sufficient and transport, reduced unmanned aerial vehicle at the in-process of transportation, probably can be because the electric quantity is not enough, need charge midway and influence the probability of conveying efficiency.

Optionally, unmanned aerial vehicle charging piles are arranged at the distributed ground mark position and the community receiving point; the unmanned aerial vehicle fills electric pile and is wireless charging equipment, in order to be used for unmanned aerial vehicle wireless charging.

Through adopting above-mentioned preferred scheme, unmanned aerial vehicle fills the setting of electric pile, be convenient for when unmanned aerial vehicle stops the rest, charge for unmanned aerial vehicle.

Optionally, a charging state of the unmanned aerial vehicle is also obtained; when the electric quantity of the unmanned aerial vehicle is full, an automatic power-off instruction is sent to the charging pile, so that the charging pile stops charging the unmanned aerial vehicle.

Through adopting above-mentioned preferred scheme, the commodity circulation server obtains unmanned aerial vehicle's charge state, stops for the unmanned aerial vehicle that has fully charged automatically, thereby reduced unmanned aerial vehicle by overcharge and caused the probability of damage.

In a second aspect of the present application, an express delivery transportation device of an unmanned aerial vehicle is provided, for executing the express delivery transportation method of an unmanned aerial vehicle as described above, where the device includes an acquisition module, a planning module, a dispatch module, a receiving module, and a warning module;

the acquisition module is used for acquiring an unmanned aerial vehicle logistics channel map and a building mark in a city, wherein the building mark comprises a distributed land mark and a delivery mark;

the planning module is used for planning an unmanned aerial vehicle logistics channel, and the unmanned aerial vehicle logistics channel mainly comprises a plurality of flight channels in the unmanned aerial vehicle logistics channel map which are connected in series so as to connect the distributed ground mark and the delivery mark;

the distributing module is used for distributing the unmanned aerial vehicle logistics channel to an unmanned aerial vehicle control platform;

The receiving module is used for receiving the identification of the assigned unmanned aerial vehicle for express delivery and the unmanned aerial vehicle information corresponding to the identification;

the warning module is configured to send first warning information to the unmanned aerial vehicle control platform and inform the dispatch module to dispatch an unmanned aerial vehicle logistics channel re-planned based on the acquisition module and the planning module when the unmanned aerial vehicle information includes information that the flight position of the assigned unmanned aerial vehicle exceeds the channel periphery boundary of the flight channel.

Through adopting above-mentioned basic scheme, utilize the first warning information that warning module sent triggers acquire module with the unmanned aerial vehicle commodity circulation passageway of planning module re-planning reduces unmanned aerial vehicle commodity circulation passageway drawing and still has the unmanned aerial vehicle collision problem that the flight of unmanned aerial vehicle in the flight delivery way led to at the flight passageway of old version unmanned aerial vehicle commodity circulation passageway drawing when iterating, and unmanned aerial vehicle flight in the flight delivery way is based on old version unmanned aerial vehicle commodity circulation passageway drawing and does not then need re-planning if not triggering the warning of crossing the line to reduce the iterative a large amount of calculation power of unmanned aerial vehicle commodity circulation passageway drawing version.

Optionally, the planning module dynamically adjusts the unmanned aerial vehicle logistics channel based on the dynamic adjustment of the unmanned aerial vehicle logistics channel map, the city map comprises a green belt, and the flight channel preferentially selects a space on the green belt; the flying channel is a unidirectional channel; the system comprises a green belt, a first warning module, a second warning module and a warning module, wherein the green belt is provided with a plurality of position sensors which are arranged at intervals, the position sensors dynamically record unmanned aerial vehicles in the flight channel and identify the marks of the unmanned aerial vehicles so as to obtain unmanned aerial vehicle information, and the unmanned aerial vehicle information comprises the time deviated from the flight channel and images capable of identifying the marks so as to enable the warning module to judge whether the first warning information is triggered or not;

Optionally, the flight channel planned by the planning module is not intersected and overlapped with a unidirectional channel in the opposite direction in the unmanned aerial vehicle logistics channel map, and forms curvature convergence with a unidirectional channel in the vertical direction or the oblique direction in the unmanned aerial vehicle logistics channel map;

optionally, the unmanned aerial vehicle logistics channel comprises a section which is not directly connected between green belts corresponding to two series-connected flight channels, a position sensor is arranged at a road traffic sign position between the two green belts, and the flight channels pass through the road traffic sign; optionally, the unmanned aerial vehicle information received by the receiving module includes second warning information that the assigned unmanned aerial vehicle enters the flight channel for the first time, so that when the restarting obtaining module and the planning module re-plan the unmanned aerial vehicle logistics channel, the flight channel corresponding to the second warning information and the first warning information replaces the distributed mark;

optionally, the receiving module is further configured to collect logistics information of the distributed location mark, further collect a corresponding delivery location to be received when the distributed location mark has prompt information to be shipped, and obtain a current electric quantity of the unmanned aerial vehicle that the distributed location stays;

Optionally, the express delivery transportation device further includes a calculation module, configured to calculate a travel length of the series connection of the flight channels between the distributed ground and the delivery ground, and calculate estimated power consumption of the unmanned aerial vehicle based on the travel length;

optionally, the distributing module is further configured to send a flight instruction to the unmanned aerial vehicle control platform along with the unmanned aerial vehicle logistics channel if the current electric quantity is greater than the estimated electric power consumption;

optionally, the dispatch module is further configured to send dispatch information to a mobile terminal of the user based on the prompt information that the hub marks to be shipped, where the dispatch information includes a time when the article arrives at the hub;

optionally, the receiving module is further configured to obtain feedback information of the mobile terminal, where the feedback information includes a user's home pickup time;

optionally, the calculating module is configured to calculate, based on the trip length, a time when the express arrives at the destination with a time when the express arrives at the destination as a start point;

optionally, the express delivery transportation device further includes a comparison module, configured to compare whether the time for the unmanned aerial vehicle to reach the delivery location is within the home delivery time of the user, and if the time exceeds the home delivery time of the user, designate the delivery location as a cell delivery point, where the cell delivery point is a temporary storage point of the express delivery in the cell; if the user is in the time of taking goods at home, the goods receiving place is designated as a user address, and the user address comprises a balcony, a roof, a private courtyard or other private space of a building user;

Optionally, the dispatch module is further configured to send pickup information to a mobile terminal of the user, where the pickup information includes comparing a location of a receiving point of a next cell or an address of the user with a time when the express arrives at the receiving point of the cell or the address of the user;

wherein, unmanned aerial vehicle charging piles are arranged at the distributed land mark and the district receiving point; the unmanned aerial vehicle fills electric pile and is wireless charging equipment, is used for unmanned aerial vehicle wireless charging.

In a third aspect of the present application, there is provided an electronic device, including a processor, a memory, an operation interface, and a network interface, where the memory is configured to store instructions, the operation interface and the network interface are configured to communicate with other devices, and the processor is configured to execute the instructions stored in the memory, so that the electronic device performs the method for delivering the unmanned aerial vehicle.

In summary, one or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

the unmanned aerial vehicle for carrying the express delivery has a specified flight channel, the unmanned aerial vehicle is in the in-process of flight, the logistics server collects the flight route and the position of the unmanned aerial vehicle, the logistics server judges whether the unmanned aerial vehicle is currently in the flight channel according to the received position of the unmanned aerial vehicle, when the unmanned aerial vehicle is not in the flight channel, the unmanned aerial vehicle is indicated to be not currently in the flight channel and belongs to irregular flight, and then first warning information is sent to an unmanned aerial vehicle control platform, so that the control platform adjusts the flight route of the unmanned aerial vehicle, and the flight of the unmanned aerial vehicle is standardized, thereby reducing the probability of collision with other unmanned aerial vehicles due to irregular flight of the unmanned aerial vehicle. The first warning information is also used for triggering a new unmanned aerial vehicle logistics channel for rescheduling a subsequent journey, and the problems that a great deal of calculation force is needed in the unmanned aerial vehicle logistics channel plate iteration process and collision is easy to occur between unmanned aerial vehicles are solved.

Therefore, the unmanned aerial vehicle logistics channel is dynamically and reasonably planned in a non-high frequency manner through the combination of the flight channels of the unmanned aerial vehicle, so that the unmanned aerial vehicle can conveniently and orderly fly in the standard flight channels, and the collision situation of the unmanned aerial vehicle is reduced.

Drawings

Fig. 1 is a schematic flow chart of an express delivery method of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a route diagram of a logistics channel of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 3 is another route diagram of a logistics channel of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 4 is a schematic perspective view illustrating curvature merging formed by a plurality of flight channels and corresponding vertical or oblique unidirectional channels in an unmanned aerial vehicle material flow channel according to an embodiment of the present application;

FIG. 5 is a partial enlarged view corresponding to the position A in FIG. 4 according to the embodiment of the present application;

fig. 6 is a schematic flow chart of changing a receiving location in the method for delivering and transporting an unmanned aerial vehicle according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an express delivery device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Reference numerals: 11. a distributed land mark; 12. delivering the mark; 13. a receiving point of a district; 14. a user address; 15. road traffic signals; 16. a position sensor; 20. the unmanned aerial vehicle logistics channel; 21. a flight path; 22. a green belt; 23. unidirectional channels in opposite directions; 24. a unidirectional channel in a vertical direction or in an oblique direction; 25. the curvature connecting section between the channels; 26. a channel peripheral boundary; 31. an acquisition module; 32. a planning module; 33. a dispatch module; 34. a receiving module; 35. a warning module; 36. a computing module; 37. a comparison module; 41. a processor; 42. a memory; 43. an operation interface; 44. a network interface; 45. a communication bus; 50. unmanned plane; 51. and (5) distributing the goods.

Detailed Description

The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only examples for understanding a part of the inventive concept of the present application, and are not representative of all embodiments, nor are they to be construed as the only embodiments. All other embodiments, based on the embodiments of the present application, which are obtained by those of ordinary skill in the art under the understanding of the inventive concept of the present application, are within the scope of the present application.

The drawings show only those parts that are common to many embodiments, and that differ or otherwise differ in what is depicted in the figures or otherwise presented in a written manner. Thus, based on the industrial characteristics and technical essence, those skilled in the art should correctly and reasonably understand and determine whether individual features or any combination of several features described below can be characterized in the same embodiment or whether features mutually exclusive in technical essence can be characterized only in different variant embodiments.

Before describing embodiments of the present application, some terms involved in the embodiments of the present application will be first defined and described.

In the description of embodiments of the application, the term "plurality" means two or more. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating an indicated technical feature. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The express unmanned aerial vehicle is an aircraft using unmanned aerial vehicle technology, and can carry small and medium-sized articles to be expressed in an autonomous flight, unmanned control and other modes so as to rapidly and safely convey the articles to a designated place. The express unmanned aerial vehicle generally adopts advanced aviation technology and remote control technology, can fly independently in the air, and realizes functions such as location, tracking and obstacle avoidance through GPS and other sensors. The express unmanned aerial vehicle can be used in the fields of express delivery, medical material transportation, disaster relief and the like, and is more and more concerned and applied due to the characteristics of high efficiency, rapidness, safety, low cost and the like.

The position sensor adopts a novel optical sensor of a laser radar technology, and utilizes laser beams to detect, so that high-precision and high-resolution three-dimensional space imaging can be realized. Compared with the traditional radar, the position sensor has higher detection precision and faster distance measurement performance, and can acquire the position, speed, form and other information of the target object in real time. The working principle of the position sensor is based on the time-of-flight measurement technology, and the time required from the emission to the reception of the laser beam is calculated by emitting laser pulses, so that the distance of the target object is calculated. By utilizing the cross detection of a plurality of laser beams, the three-dimensional information of the target object can be obtained. The position sensor has wide application in the fields of automatic driving, intelligent transportation, unmanned aerial vehicle, robot and the like, can improve the safety performance and driving experience of an automatic driving vehicle, and realizes autonomous navigation and obstacle avoidance of the vehicle; in the field of unmanned aerial vehicles, more accurate flight control and obstacle avoidance functions can be realized; in the robot field, can realize functions such as more accurate location and environmental perception.

Unmanned aerial vehicle fills electric pile, is one kind can provide the equipment that charges the service for unmanned aerial vehicle. The unmanned aerial vehicle can be charged in a solar energy mode, a power grid mode and the like, so that the unmanned aerial vehicle can continuously carry out flight tasks. Unmanned aerial vehicle fills electric pile mainly comprises three parts: charging device, control device and communication device. The charging equipment mainly comprises a power supply, a charger and a battery pack, and can provide safe and rapid charging service for the unmanned aerial vehicle. The control equipment can carry out remote control and control to the charging pile, and the safety and stability of the charging process are ensured. The communication device can realize data transmission and interaction between the charging pile and the unmanned aerial vehicle. Unmanned aerial vehicle fills electric pile and has extensive application in unmanned aerial vehicle field. The unmanned aerial vehicle can solve the energy problem of the unmanned aerial vehicle in a long-time flight task, improve the endurance capacity of the unmanned aerial vehicle and provide a more flexible operation mode for the unmanned aerial vehicle. Meanwhile, the unmanned aerial vehicle charging pile can provide remote charging service for the unmanned aerial vehicle, so that the flight maintenance cost of the unmanned aerial vehicle is reduced. In the future, with the continuous expansion of the application field of unmanned aerial vehicles, unmanned aerial vehicle charging piles will become an important infrastructure.

The following description is presented for the purpose of facilitating understanding of the technical aspects of the present application, but is not intended to limit the present application. Fig. 1 is a schematic flow chart of an express delivery method of an unmanned aerial vehicle according to an embodiment of the present application; fig. 2 is a route diagram of a logistics channel of an unmanned aerial vehicle according to an embodiment of the present application; fig. 3 is another route diagram of the unmanned aerial vehicle logistics channel according to the embodiment of the present application. Referring to fig. 1, an express delivery method of an unmanned aerial vehicle disclosed in an embodiment of the present application is applied to a logistics server, and includes: s1, acquiring an unmanned aerial vehicle logistics channel map and building marks in a city, wherein the building marks comprise a delivery mark and a distributed area mark; s2, planning a logistics channel of the unmanned aerial vehicle, and connecting a distributed mark and a delivery mark; s3, distributing the unmanned aerial vehicle logistics channel, and recording the identification of the assigned unmanned aerial vehicle; s4, receiving unmanned aerial vehicle information corresponding to the identification; s5, the flight position of the assigned unmanned aerial vehicle exceeds the peripheral route of the flight channel, first warning information is sent, and the rescheduled unmanned aerial vehicle logistics channel is dispatched.

Step S1 may refer to fig. 2 or 3, and obtain a map of unmanned aerial vehicle logistics channels in a city and a building tag, where the building tag includes a distributed tag 11 and a delivery tag 12. The unmanned aerial vehicle logistics channel map is usually formulated in real time by a management party of urban traffic based on actual traffic state, and has the phenomenon of iteration of new and old versions, and is used for standardizing unmanned aerial vehicle standardized flight of a logistics transport party; building labels are also typically provided by a manager of urban construction, giving each building a real estate exclusive code that can correspond to the geographic location of the building; the management parties may be the same or different. The logistics server is usually managed and operated by a logistics transport party, and the management or/and operation mode can be specifically represented in a logistics platform of an enterprise. Specifically, the distribution sign 11 is a building real estate specific code corresponding to an intermediate distribution post of the article to be received, and the delivery sign 12 is a building real estate specific code corresponding to a registered address of the buyer or the receiver. A plurality of channels for unmanned aerial vehicle to fly based on the urban construction are defined in the unmanned aerial vehicle logistics channel map, and the unmanned aerial vehicle logistics channel map comprises a flying channel 21 and an un-connected channel which are connected in series subsequently. The plurality of tunnels including the flying tunnel 21 may be generally planned to be 300 to 500 meters from the ground, but is not limited to this range, and avoid being set to be above a place where pedestrians and vehicles are likely to park or gather. The city traffic manager needs to dispatch the version iterated unmanned aerial vehicle logistics channel map early, and the logistics server of the logistics transporter is given in step S1.

Step S2 may refer to fig. 2 or fig. 3, and plan a drone logistics channel 20, where the drone logistics channel 20 mainly includes a plurality of flight channels 21 in the drone logistics channel map connected in series, so as to connect the distributed ground mark 11 and the delivery mark 12. The planning method is to be normalized according to the individual express logistics paths in combination with the unmanned aerial vehicle logistics channel map (current iteration version). The flight path 21 may have a neutral section in series, and the threshold value of the section distance may be used for normalization, or may have no neutral section. Step S2 requires the use of a calculation effort to the logistics server. Step S3 may refer to fig. 2 or 3, dispatch the drone logistics channel 20 to a drone control platform, and record the identification of the assigned drone for transporting the items carried by the assigned drone through the drone logistics channel 20 from the distributed location tag 11 to the receiving location corresponding to the arrival tag 12 itself or nearby. The assigned drones are typically drones that are assigned to the hub tag 11, may be assigned by a logistics server, and may be assigned by a drone control platform. The identification is used to identify the assigned drone, which itself typically has a specific color, corresponding to a different logistics carrier. The identification may include information of that particular color, and the complete identification may also be marked on the appearance of the assigned drone.

Step S4 includes receiving unmanned aerial vehicle information corresponding to the identification. When the logistics server receives the unmanned aerial vehicle information, the assigned unmanned aerial vehicle is usually still in the process of carrying out the transportation of express logistics of the articles, and one form of the source of the unmanned aerial vehicle information is usually a management party of urban traffic or a consignor corresponding to management, and the consignor has the latest iterated unmanned aerial vehicle logistics channel map, but the information of the unmanned aerial vehicle logistics channel 20 is not needed. The drone information mainly includes the identification and location information of the assigned drone.

Step S5 may refer to fig. 2 or 3, and when the drone information includes information that the flight position of the assigned drone exceeds the lane periphery boundary 26 (specifically, as shown in fig. 4 and 5) of the flight lane 21, a first warning message is sent to the drone control platform, and the drone logistics channel 20 re-planned based on steps S1 and S2 is dispatched. That is, the first warning information includes informing the logistic transporter that there is a problem of illegal flight corresponding to the unmanned aerial vehicle of the flag and triggering the rescheduling of the subsequent journey of the unmanned aerial vehicle. The channel peripheral edge 26 may be an up-down, left-right edge of a square channel, may be an arc edge of a circular or oval channel, and the channel peripheral edge 26 does not include a boundary of a navigation channel in the fore-and-aft direction.

The implementation principle of the basic embodiment is as follows: with the triggering condition of the first warning information of step S5, in the in-process that the updated version unmanned aerial vehicle logistics channel map is different from the former version unmanned aerial vehicle logistics channel map, the unmanned aerial vehicle triggers the first warning information with the line crossing flight of the flight channel of the updated version unmanned aerial vehicle logistics channel map in the flight delivery route of the former version unmanned aerial vehicle logistics channel map, and then the party starts to trigger the flight channel update of the subsequent unmanned aerial vehicle express, unmanned aerial vehicle collision problem that the unmanned aerial vehicle flies in the flight channel of the former version unmanned aerial vehicle logistics channel map in the flight delivery route when reducing unmanned aerial vehicle logistics channel map iteration, the computational power of planning unmanned aerial vehicle logistics channel can also be reduced in a large number of updates when unmanned aerial vehicle logistics channel map iteration. In addition, this also can reduce unmanned aerial vehicle's article express delivery in-process unmanned aerial vehicle and the unmanned aerial vehicle of reverse flight bump's problem. On the other hand, the method scheme of the embodiment of the application can replace or partially replace the common mode of delivering goods by couriers, takes the mode of delivering goods by unmanned aerial vehicles as the implementation means in the last step of logistics express delivery, delivers the goods to buyers or users, and solves the problems that when a large number of unmanned aerial vehicles are used for express logistics delivery, the weight, the size or the performance of the unmanned aerial vehicles are different, the speed of the unmanned aerial vehicles is high or low, the unmanned aerial vehicles return or have the size, and the unmanned aerial vehicles are easy to drop when being rubbed with each other, so that the road safety is affected.

In a preferred example, when the drone logistics channel map is dynamically adjusted in step S1, the drone logistics channel not yet planned in step S2 is also changed, so that the planned drone logistics channel 20 will not be re-planned or listed in a lower planning priority in this step. The unmanned aerial vehicle logistics channel map is formulated based on an instantaneous iteration city map, the city map comprises a green belt 22, and the flying channel 21 preferentially selects the space on the green belt 22; the flying channel 21 is a unidirectional channel; the green belt 22 is provided with a plurality of position sensors 16 arranged at intervals, the position sensors 16 dynamically record unmanned aerial vehicles in the flight channel 21 and identify the identification of the unmanned aerial vehicles so as to obtain unmanned aerial vehicle information, and the unmanned aerial vehicle information comprises the time deviated from the flight channel 21 and images capable of identifying the identification so that the logistics server can judge whether the first warning information is triggered or not. The flight channel 21 is set according to the position of the green belt 22 of the city, so that the flight channel 21 of the unmanned aerial vehicle avoids pedestrians and vehicles as much as possible, the probability of collision between the unmanned aerial vehicle and other objects such as pedestrians/vehicles is reduced, and the probability of collision between the unmanned aerial vehicle and the pedestrians/vehicles is reduced when the unmanned aerial vehicle falls. The position sensor 16 is usually processed by an urban traffic manager or a commission unit thereof, so that an unmanned aerial vehicle logistics channel map of a latest iteration version can be obtained, the position sensor 16 has accuracy of space definition, and the space of a latest correction flight channel can be divided and defined in real time based on the unmanned aerial vehicle logistics channel map of the latest iteration version. In the version iteration process, the logistics server of the logistics transport party is also capable of receiving the latest iteration version of the unmanned aerial vehicle logistics channel map (step S1), and may delay the spatial definition of the position sensor 16, while the unmanned aerial vehicle on the express delivery route at the time point of step S1 cannot immediately and unnecessarily reprogram the unmanned aerial vehicle logistics channel, but performs time difference reprofiling based on the feedback of the first warning information generated in steps S4 and S5, and for the logistics server, the concentration of a large amount of calculation force in a moment can be relieved.

Specifically, a manager of the logistics transport party registers an API key in a management platform capable of acquiring the immediate iteration version of the unmanned aerial vehicle logistics channel map. The map is requested using the API. And acquiring the map of the required city by sending a request to the API. The URL of the request includes parameters such as city name or latitude and longitude. The logistics server identifies the position and connection relation of the green belt 1 of the city based on an image identification algorithm.

Referring to fig. 2 again, in a specific example, the unmanned aerial vehicle logistics channel map defines a plurality of flight channels in a city a, in the city a, including a point a and a point B provided with a distributed sign 11 and a delivery sign 12, the distributed a and the distributed B are respectively dispatch sites of logistics transport parties such as different individual express companies, which indicates that two logistics servers plan the unmanned aerial vehicle logistics channel in the same version of city. Specifically, for example, a hub a is a dispatch site of a first express company, and a hub B is a dispatch site of a second express company. Taking the shipping address as the point a of the user address 14 in the shipping label 12 as an example, there are multiple greenbelts 22 between the hub a and the user a's address. The server marks the serial paths of a plurality of flight channels 21 formed by connecting a plurality of green belts 22 between the distributed area A and the user A, and the shortest path in the paths is found out through the Di Jie Tesla algorithm. The space above the green belt 22 or the space where the road traffic sign 15 is located is previously provided with a plurality of position sensors 16 at intervals, which are monitored by the urban traffic manager or its consignor.

Referring again to fig. 3, in a variation, point a of the distributed tag 11 is located at A, B and point C of the user address 14 of the same delivery tag 12 for delivery of the express. The unmanned aerial vehicle can be designed to pass through the same unmanned aerial vehicle logistics channel 20, and can also pass through different flight channels, and the unmanned aerial vehicle logistics channel can be set according to specific conditions. After the unmanned aerial vehicle for express delivery finishes dispatch for the user address A, the user address B and the user address C, the unmanned aerial vehicle can return to the point A of the distributed sign 11 along the serial route of the flight channel 21 of the logistics channel 20 of the same unmanned aerial vehicle, and also can return to the point A of the distributed sign 11 from the flight channel 21 of the logistics channel of another unmanned aerial vehicle, which indicates that the planning of the logistics channel of the unmanned aerial vehicle is freely set by the logistics transport party corresponding to the logistics server, but the premise is to be carried out under the constraint of the logistics channel diagram of the unmanned aerial vehicle in the city of version iteration. The shipping label 12 includes a A, B and C point for the user address 14 within the same building, and may share one or more cell receiving points 13 located within or near the shipping label 12. The receiving place of the user article can be a cell receiving point 13 or a user address 14, and the basis before selection is to plan the unmanned aerial vehicle logistics channel under the destination base point by taking the delivery mark 12 corresponding to the user address 14 first and then to perform the target selection of the user address 14 and the nearby cell receiving point 13. The end-of-flight channels may be designed and provided by owners of individual land within a cell or other areas not belonging to public transportation, to urban traffic management, incorporating the end-of-flight channels into a drone logistics channel map in the city for dispatch to logistics transport parties.

In a preferred example, referring to fig. 4 and 5 in combination, in step S2, the flight path 21 does not intersect with and overlap with the unidirectional path 23 in the opposite direction of the unmanned aerial vehicle logistics path diagram, and forms a curvature junction with the unidirectional path 24 in the vertical direction or the oblique direction of the unmanned aerial vehicle logistics path diagram (i.e. the inter-path curvature junction section 25 shown in fig. 4). By adopting this preferred solution, the flight paths 21, 23 of opposite flight directions are offset from each other, avoiding the probability of collision with an unmanned aerial vehicle flying in opposite directions. As can be seen from fig. 4 and 5, the channel peripheral edge 26 of the flight channel 21 may be a square tube wall, in a variant, the channel peripheral edge 26 may be a circular tube wall, and the space is defined by the position sensor 16 under the specification of the unmanned aerial vehicle logistics channel map, and the channel peripheral edge 26 may not include the front and rear access ports of the corresponding flight channel 21. The unmanned aerial vehicle 50 carries the object 51 being dispensed and flies in the flying channel 21, and when the unmanned aerial vehicle 50 or the object 51 thereof touches the channel peripheral boundary 26, a first warning message is sent out. The triggering of the front entry port of the corresponding flight path 21 is the sending of a second warning message. When the unmanned aerial vehicle 50 flies in the flight channel 21 planned by the old version unmanned aerial vehicle logistics channel map, the unmanned aerial vehicle 50 is firstly triggered to the front entry port of the flight channel 21 planned based on the old version unmanned aerial vehicle logistics channel map, and then triggered to the channel periphery boundary 26 of the flight channel 21 planned based on the new version unmanned aerial vehicle logistics channel map, it can be judged that the unmanned aerial vehicle logistics channel 20 for standardizing the unmanned aerial vehicle 50 to fly is planned based on the old version unmanned aerial vehicle logistics channel map (sending out the second warning information), and when the unmanned aerial vehicle 50 flies beyond the channel periphery boundary 26 (sending out the first warning information) of the flight channel 21 standardized by the new version unmanned aerial vehicle logistics channel map, this means that the logistics server needs to reprogram the unmanned aerial vehicle logistics channel 20 with the new version unmanned aerial vehicle logistics channel map as a starting point.

In a more specific example, when the unmanned aerial vehicle 50 is abnormally separated from the planned flight channel 21, after touching the channel periphery boundary 26 of the flight channel 21, the unmanned aerial vehicle 50 receives a corresponding instruction based on the sent first warning information, checks the flight posture and the positioning point of the unmanned aerial vehicle again, judges whether falling acceleration occurs, and if so, starts an emergency risk avoidance program to avoid damage to the people below and reduce damage to the unmanned aerial vehicle itself. In addition, the timing of the check to determine whether to fall can also be an autonomous check of the unmanned aerial vehicle. The emergency risk avoidance procedure includes, but is not limited to, installing a safety parachute in the unmanned aerial vehicle 50, and starting the safety parachute outside the electronic control system of the unmanned aerial vehicle 50 to perform emergency opening when the unmanned aerial vehicle 50 fails or is in no electricity. An unmanned aerial vehicle 50 that cannot be dispensed in an abnormal situation, such as a dead electricity situation, an impact situation, etc., will typically slowly fall into the area below the flight path 21 after leaving the path perimeter 26 of the flight path 21, and a better application is that the unmanned aerial vehicle after falling will still be sensed by the position sensor 16.

In more specific examples, the articles 51 being dispensed carried by the drone 50 are specifically a logistics dispenser having a surface with shock absorbing capability, such as a carton structure with a surface honeycomb structure that absorbs shock elastically. Items within a logistics distribution box that may be placed in the same delivery sign 12 for multiple users, such as user address A, B, C in fig. 2, belong to the same delivery sign 12, i.e. in the same building sign. If the user's goods at the user address A, B, C in fig. 2 are small enough, they are distributed by the same unmanned aerial vehicle 50 and loaded into the articles 51 (logistics distribution boxes) carried by them. The logistics distribution box is internally provided with a plurality of sub-compartment structures, after the logistics distribution box reaches the corresponding user address, the corresponding user is notified, the corresponding sub-compartment structure is opened later for the corresponding user to take away the corresponding goods, and the distribution mode is similar to the current intelligent distribution robot capable of delivering the goods to the door.

In a more preferred example, the unmanned aerial vehicle logistics channel 20 includes a section not directly connected between the green belts 22 corresponding to the two series-connected flight channels 21, and the position sensor 16 is disposed at the position of the road traffic sign 15 between the two green belts 22, and the flight channels 21 pass through the road traffic sign 15. By means of the preferred solution, the road traffic sign 15 is utilized as a transition platform between two discontinuous green belts 22, so that the unmanned aerial vehicle can conveniently fly from above the road traffic sign 15 when not passing through the green belts 22. Because the pavement of pedestrians and the parking area of vehicles running on the road generally bypass or stagger the space below the road traffic sign, the probability that the unmanned aerial vehicle hits the pedestrians/vehicles is further avoided.

In a preferred example, the unmanned aerial vehicle information received in step S4 includes second warning information that the unmanned aerial vehicle is assigned to enter the flight path 21 for the first time, so that when the unmanned aerial vehicle is re-planned based on steps S1 and S2 in step S5, the flight path 21 corresponding to the second warning information and the first warning information replaces the distributed sign 11 in step S2. In the unmanned aerial vehicle logistics channel map iteration process, the assigned unmanned aerial vehicle in step S4 flies based on the unmanned aerial vehicle logistics channel planned by the old version unmanned aerial vehicle logistics channel map, the position sensor 16 monitors the flight channel of the new version unmanned aerial vehicle logistics channel map after iteration, and the assigned unmanned aerial vehicle does not know the technical facts of the version iteration. The main function of the second warning information combined with the previous first warning information is to inform the logistics server that version iteration needs exist for the unmanned aerial vehicle logistics channel of the assigned unmanned aerial vehicle. Through the preferred scheme, the second warning information and the first warning information are utilized to determine that the unmanned aerial vehicle exceeds the channel boundary to be in a version iteration state, if the unmanned aerial vehicle logistics channel map is updated in a city in the unmanned aerial vehicle flight process, only when the unmanned aerial vehicle exceeds the channel peripheral boundary 26 (shown in fig. 4 and 5 specifically) of the new flight channel 21, the unmanned aerial vehicle logistics channel 20 of the subsequent journey needs to be re-planned with the exceeded new flight channel 21 as a starting point, and the unmanned aerial vehicle logistics channel 20 is connected with the new flight channel 21 and the delivering mark 12 which are exceeded to send the first warning information and enter the second warning information for the first time, so that the calculated data quantity and the calculated frequency of the unmanned aerial vehicle logistics channel 20 are saved, and all calculation and planning are not needed. The new flight path 21 is a flight path redefined in real time with the position sensor 16 based on the iterative drone logistics channel map. The occurrence of the first warning message is based on the in-flight drone also using the old version of the drone logistics channel map to plan the flight path of the drone logistics channel 20, resulting in exceeding the channel perimeter boundary 26 of the flight path in the new version of the drone logistics channel map after iteration. The precondition of the second warning information is added, so that error judgment of other reasons caused by exceeding the channel periphery boundary 26 of the flight channel in the new version of unmanned aerial vehicle logistics channel map after iteration, such as first flying-in trigger of the unmanned aerial vehicle in error flight under the condition of not iterating the version of unmanned aerial vehicle logistics channel map, can be reduced.

In a preferred example, referring to fig. 6 and fig. 3 in combination, the express delivery method further includes:

step S61, based on the prompt information of the distributed place mark 11 to be delivered, sending dispatch information to the mobile terminal of the user, wherein the dispatch information comprises the time of the article reaching the distributed place;

step S62, obtaining feedback information of the mobile terminal, wherein the feedback information comprises the user at-home picking time;

step S63, calculating the time of the express delivery reaching the delivery destination by taking the time of the express delivery reaching the distribution destination as a starting point based on the travel length;

step S64, comparing whether the time for the unmanned aerial vehicle to reach the delivery site is within the home delivery time of the user, if the time exceeds the home delivery time of the user, designating the delivery site in step S3 as a cell delivery point 13, wherein the cell delivery point 13 is a temporary storage point for express delivery in a cell; if the user is in the time of picking up goods, the receiving location in step S3 is designated as a user address 14, and the user address 14 includes a balcony, a roof, a private courtyard or other private space of the building user; the implementation time of the steps S61 to S64 is the time when the unmanned aerial vehicle is assigned to fly in the unmanned aerial vehicle logistics channel 20, namely, the pre-calculated technical means of optional change of the receiving place; in another variation, only the implementation timing of step S64 is when the unmanned aerial vehicle is assigned to fly in the unmanned aerial vehicle logistics channel 20, and steps S61 to S63 may perform the pre-determination without notifying the user, that is, the logistics server knows the time of taking the user at home in advance, or knows in advance whether the receiving place of the user is the receiving point 13 of the cell or the address 14 of the user;

Step S65, sending the pickup information to the mobile terminal of the user, where the pickup information includes comparing the location of the next cell receiving point 13 or the user address 14 and the time when the express arrives at the cell receiving point 13 or the user address 14.

The implementation principle of the preferred embodiment is as follows: when the time for the express delivery to reach the delivery destination exceeds the user's home pickup time, there may be a case where the user is not at home. The delivery information is fed back to collect the time for picking up the goods at home in advance, the time for the unmanned aerial vehicle to reach the delivery place is calculated according to the flight channel 21 of the unmanned aerial vehicle, if the unmanned aerial vehicle is expected to reach the user receiving address, the user is not at home, the user is indicated to be inconvenient to pick up the goods at the moment, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle control platform to transport the express delivery to the district receiving point 13 of the user, and accordingly the express delivery is temporarily stored in the district receiving point 13, the position of the district receiving point 13 and the time for the express delivery to reach the district receiving point 13 are transmitted to the mobile terminal of the user, and the user can conveniently go to the district receiving point 13 to pick up the goods according to own planning. If the unmanned aerial vehicle is expected to reach the user receiving address, the user is at home, and the user is indicated to conveniently take the piece at the moment, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle control platform to convey the express delivery to the user address 14 of the user, and the user address 14 can be a balcony, a forecourt or other private space where the user is located.

In a preferred example, the express delivery transportation method further includes:

collecting logistics information of the distributed markers 11;

when the collecting and distributing place mark 11 has prompt information of goods to be delivered, further collecting corresponding goods to be received and delivered places, and calculating the travel length of the series connection of the flight channels 21 between the collecting and distributing places and the delivered places;

calculating estimated power consumption of unmanned aerial vehicle flight based on the stroke length;

and acquiring the current electric quantity of the unmanned aerial vehicle staying in the distributed area, and if the current electric quantity is larger than the estimated power consumption, sending a flight instruction to the unmanned aerial vehicle control platform along with the unmanned aerial vehicle logistics channel 20.

In a preferred example, unmanned aerial vehicle charging piles are arranged at the location of the distributed ground mark 11 and the district receiving point 13; the unmanned aerial vehicle fills electric pile and is wireless charging equipment, in order to be used for unmanned aerial vehicle wireless charging. Through this preferred scheme, unmanned aerial vehicle fills the setting of electric pile, be convenient for when unmanned aerial vehicle stops the rest, charge for unmanned aerial vehicle.

In a preferred example, the charging state of the unmanned aerial vehicle is also obtained; when the electric quantity of the unmanned aerial vehicle is full, an automatic power-off instruction is sent to the charging pile, so that the charging pile stops charging the unmanned aerial vehicle. According to the optimal scheme, the logistics server acquires the charging state of the unmanned aerial vehicle and automatically stops charging the unmanned aerial vehicle which is fully charged, so that the probability of damage caused by overcharge of the unmanned aerial vehicle is reduced.

In addition, referring to fig. 7, a schematic structural diagram of an express delivery device of an unmanned aerial vehicle according to another embodiment of the present application is disclosed, and the present application further provides an express delivery device of an unmanned aerial vehicle capable of correspondingly executing the express delivery method of an unmanned aerial vehicle, where the express delivery device includes an obtaining module 31, a planning module 32, a dispatch module 33, a receiving module 34, and a warning module 35.

Referring to fig. 2 or fig. 3, the obtaining module 31 is configured to obtain a logistics channel map of the unmanned aerial vehicle in the city and a building label, where the building label includes a distributed land label 11 and a delivery label 12; the planning module 32 is configured to plan the unmanned aerial vehicle logistics channel 20, where the unmanned aerial vehicle logistics channel 20 mainly includes a plurality of flight channels 21 in the unmanned aerial vehicle logistics channel map connected in series, so as to connect the distributed ground mark 11 and the arrival mark 12. The dispatch module 33 is configured to dispatch the drone logistics channel 20 to a drone control platform. The receiving module 34 is configured to receive an identifier of an assigned unmanned aerial vehicle for performing express delivery and unmanned aerial vehicle information corresponding to the identifier. The alert module 35 is configured to send a first alert to the drone control platform and to inform the dispatch module 33 to dispatch the drone logistics channel 20 re-planned based on the acquisition module 31 and the planning module 32 when the drone information includes information that the flight location of the assigned drone exceeds the lane perimeter boundary 26 of the flight lane 21.

In a preferred example, the planning module 32 dynamically adjusts the drone logistics channel 20 based on, and with, the dynamic adjustment of the drone logistics channel map, the city map including a green belt 22, the flight channel 21 preferentially selecting space on the green belt 22; the flying channel 21 is a unidirectional channel; the green belt 22 is provided with a plurality of position sensors 16, specifically, optical second sensing lidars, which are arranged at intervals, the position sensors 16 can dynamically record unmanned aerial vehicles in the flight channel 21 and identify the identification of the unmanned aerial vehicles so as to obtain unmanned aerial vehicle information, and the unmanned aerial vehicle information comprises a time deviated from the flight channel 21 and an image capable of identifying the identification so that the warning module 35 can judge whether to trigger the first warning information.

In a preferred example, referring to fig. 4 and 5 in combination, the flight path 21 planned by the planning module 32 does not intersect with and overlap with the unidirectional path 23 in the opposite direction in the unmanned aerial vehicle logistics path diagram, and forms a curvature junction with the unidirectional path 24 in the vertical direction or the oblique direction in the unmanned aerial vehicle logistics path diagram (such as the inter-path curvature junction section 25 shown in fig. 4).

In a preferred example, the unmanned aerial vehicle logistics channel 20 includes a section where two greenbelts 22 corresponding to two series-connected flight channels 21 are not directly connected, a position sensor 16 is disposed at a position of a road traffic sign 15 between the two greenbelts 22, and the flight channels 21 pass through the road traffic sign 15; in a preferred example, the unmanned aerial vehicle information received by the receiving module 34 includes second warning information that the assigned unmanned aerial vehicle enters the flight channel 21 for the first time, so that the flight channel 21 corresponding to the second warning information and the first warning information replaces the distributed marking 11 when the restarting acquiring module 31 and the planning module 32 plan the unmanned aerial vehicle logistics channel 20 again.

In a preferred example, the dispatch module 33 is further configured to send dispatch information to the mobile terminal of the user based on the prompt information of the distribution site 11 for delivery, where the dispatch information includes a time when the item arrives at the distribution site.

In a preferred example, the receiving module 34 is further configured to obtain feedback information of the mobile terminal, where the feedback information includes a time when the user takes goods at home.

In a preferred example, the calculating module 36 is configured to calculate the time of arrival of the express delivery at the destination based on the travel length and starting from the time of arrival of the express delivery at the destination.

In a preferred example, the express delivery transportation device further includes a comparing module 37, configured to compare whether the time for the unmanned aerial vehicle to reach the delivery location is within the home delivery time of the user, and if the time exceeds the home delivery time of the user, the delivery location is designated as a cell delivery point 13, where the cell delivery point 13 is a temporary storage point of the express delivery in the cell; if the user is at home for the time of pickup, the receiving location is designated as user address 14, and the user address 14 includes the balcony, roof, private courtyard, or other private space of the building user.

In a preferred example, the dispatch module 33 is further configured to send the pickup information to the mobile terminal of the user, where the pickup information includes comparing the location of the lower cell receiving point 13 or the user address 14 and the time when the express arrives at the cell receiving point 13 or the user address 14.

In a preferred example, the receiving module 34 is further configured to collect the logistics information of the distributed location tag 11, further collect the corresponding delivery location to be received when the distributed location tag 11 has prompt information of the delivery to be sent, and obtain the current electric quantity of the unmanned aerial vehicle at which the distributed location stays.

In a preferred example, the express delivery transportation device further includes a calculation module 36, configured to calculate a travel length of the series connection of the collecting and distributing ground to the flight channel 21 between the delivering ground, and calculate the estimated power consumption of the unmanned aerial vehicle based on the travel length.

In a preferred example, the dispatch module 33 is further configured to send a flight command to the unmanned aerial vehicle control platform along with the unmanned aerial vehicle logistics channel 20 if the current power is greater than the estimated power consumption;

in a preferred example, unmanned aerial vehicle charging piles are arranged at the location of the distributed ground mark 11 and the district receiving point 13; the unmanned aerial vehicle fills electric pile and is wireless charging equipment, is used for unmanned aerial vehicle wireless charging.

Referring to fig. 8, a schematic structural diagram of an electronic device according to an embodiment of the present application is disclosed. The application also discloses an electronic device, comprising: a processor 41, a memory 42, a network interface 44, an operation interface 43 and a communication bus 45. Wherein the communication bus 705 is used to enable connection communication between the aforementioned components. The operation interface 43 may include interfaces corresponding to a Display screen (Display), a Camera (Camera), such as a standard wired interface, a wireless interface. The network interface 44 may optionally include a standard wired interface, a wireless interface (e.g., wi-Fi interface). The memory 42 is used for storing instructions, the operation interface 43 and the network interface 44 are used for communicating with other devices, and the processor 41 is used for executing the instructions stored in the memory 42, so that the electronic device executes the method for delivering the unmanned aerial vehicle according to the previous embodiment.

Processor 41 may include one or more processing cores. The processor 41 connects various parts within the overall server using various interfaces and lines, performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 42, and invoking data stored in the memory 42. Alternatively, the processor 41 may be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 41 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 41 and may be implemented by a single chip.

The Memory 42 includes a random access Memory (Random Access Memory, RAM), and may also include a Read-Only Memory (Read-Only Memory). Optionally, the memory 42 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 42 may be used to store instructions, programs, code sets, or instruction sets. The memory 42 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described various method embodiments, etc.; the storage data area may store data or the like involved in the above respective method embodiments. The memory 42 may alternatively be at least one memory device located remotely from the aforementioned processor 41. Referring to fig. 8, an operating system, a network communication module, an operating module, and an application program of an express delivery method of the unmanned aerial vehicle may be included in the memory 42 as one type of computer storage medium. The corresponding operation execution may be performed through the operation interface 43.

In the electronic device shown in fig. 8, a network interface 44 is used as a main interface for providing input to a user, acquires data input by the user, and establishes connection between the processor 41 and the memory 42 through a communication bus 45; the processor 41 may be configured to invoke an application program in the memory 42 for storing a method for delivering an unmanned aerial vehicle, where the application program, when executed by the one or more processors 41, causes the electronic device to perform the method according to one or more of the embodiments described above, and is specifically implemented in the logistics server. It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all of the preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as a division of units, merely a division of logic functions, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned memory includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a magnetic disk or an optical disk.

The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure.

This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.

Claims

1. An unmanned aerial vehicle express delivery transportation method is characterized by being applied to a logistics server, and comprises the following steps:

2. The method for transporting the unmanned aerial vehicle by express delivery according to claim 1, wherein in the step S1, when the unmanned aerial vehicle logistics channel map is dynamically adjusted, the unmanned aerial vehicle logistics channel which is not planned in the step S2 also changes; the unmanned aerial vehicle logistics channel map is formulated based on an instantaneous iteration city map, the city map comprises a green belt, and the flight channel preferentially selects a space on the green belt; the flying channel is a unidirectional channel; the system comprises a green belt, a logistics server and a first warning information, wherein the green belt is provided with a plurality of position sensors which are arranged at intervals, the position sensors dynamically record unmanned aerial vehicles in a flight channel and identify the marks of the unmanned aerial vehicles so as to obtain unmanned aerial vehicle information, and the unmanned aerial vehicle information comprises time deviated from the flight channel and images capable of identifying the marks so as to judge whether the first warning information is triggered or not by the logistics server.

3. The method for express delivery and transportation of an unmanned aerial vehicle according to claim 2, wherein in step S2, the flight channel does not intersect with and overlap with a unidirectional channel in the opposite direction of the unmanned aerial vehicle logistics channel map, and forms curvature convergence with a unidirectional channel in the vertical direction or the oblique direction of the unmanned aerial vehicle logistics channel map.

4. The method for express delivery transportation of an unmanned aerial vehicle according to claim 2, wherein the unmanned aerial vehicle logistics channel comprises a section which is not directly connected between green belts corresponding to two series-connected flight channels, a position sensor is arranged at a road traffic sign position between the two green belts, and the flight channels pass through the road traffic sign; preferably, the unmanned aerial vehicle information received in step S4 includes second warning information that the unmanned aerial vehicle is assigned to enter the flight path for the first time, so that the flight path corresponding to the second warning information and the first warning information replaces the distributed mark in step S2 when re-planning based on steps S1 and S2 is restarted in step S5.

5. The method of claim 1-4, further comprising:

s64, comparing whether the time for the unmanned aerial vehicle to reach the delivery destination is within the home delivery time of the user, and if the time exceeds the home delivery time of the user, designating the delivery destination in the step S3 as a district delivery point, wherein the district delivery point is a temporary storage point of express delivery in a district; if the user is in the time of picking up goods, designating the receiving place in step S3 as a user address, wherein the user address includes a balcony, a roof, a private courtyard or other private space of the building user;

6. The method of claim 5, further comprising:

Collecting logistics information of the distributed marks;

7. The method for the express delivery and transportation of the unmanned aerial vehicle according to claim 6, wherein the collecting and distributing place mark and the district receiving point are both provided with unmanned aerial vehicle charging piles; the unmanned aerial vehicle fills electric pile and is wireless charging equipment, is used for unmanned aerial vehicle wireless charging.

8. Unmanned aerial vehicle's express delivery conveyer, its characterized in that includes:

the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring an unmanned aerial vehicle logistics channel map and a building mark in a city, and the building mark comprises a distributed land mark and a delivery mark;

the planning module is used for planning an unmanned aerial vehicle logistics channel, and the unmanned aerial vehicle logistics channel mainly comprises a plurality of flight channels in a unmanned aerial vehicle logistics channel map which are connected in series so as to connect the distributed ground mark and the delivering mark;

The dispatch module is used for dispatching the unmanned aerial vehicle logistics channel to an unmanned aerial vehicle control platform;

and the warning module is configured to send first warning information to the unmanned aerial vehicle control platform when the unmanned aerial vehicle information comprises information that the flight position of the assigned unmanned aerial vehicle exceeds the channel periphery boundary of the flight channel, and inform the dispatching module to dispatch the unmanned aerial vehicle logistics channel re-planned based on the acquisition module and the planning module.

9. The unmanned aerial vehicle's express delivery transport device of claim 8, wherein the planning module dynamically adjusts the unmanned aerial vehicle's logistics channels based on, and with, dynamic adjustments to the unmanned aerial vehicle's logistics channel map, the city map comprising a green belt, the flight channel preferentially selecting space on the green belt; the flying channel is a unidirectional channel; the green belt is provided with a plurality of position sensors which are arranged at intervals, the position sensors dynamically record unmanned aerial vehicles in the flight channel and identify the identification of the unmanned aerial vehicles so as to obtain unmanned aerial vehicle information, and the unmanned aerial vehicle information comprises the time of deviating from the flight channel and an image capable of identifying the identification, so that the warning module (35) can judge whether to trigger the first warning information;

Preferably, the flight channel planned by the planning module does not meet and overlap with a unidirectional channel in the opposite direction in the unmanned aerial vehicle logistics channel map, and forms curvature convergence with a unidirectional channel in the vertical direction or the oblique direction in the unmanned aerial vehicle logistics channel map;

preferably, the unmanned aerial vehicle logistics channel comprises a section which is not directly connected between green belts corresponding to two series-connected flight channels, a position sensor is arranged at a road traffic sign position between the two green belts, and the flight channels pass through the road traffic sign; preferably, the unmanned aerial vehicle information received by the receiving module includes second warning information that the assigned unmanned aerial vehicle enters the flight channel for the first time, so that when the restarting obtaining module and the planning module re-plan the unmanned aerial vehicle logistics channel, the flight channel corresponding to the second warning information and the first warning information replaces the distributed mark;

or/and, the dispatch module is further used for sending dispatch information to the mobile terminal of the user based on the prompt information of the distributed location marked to be shipped, wherein the dispatch information comprises the time of the article reaching the distributed location;

The receiving module is also used for acquiring feedback information of the mobile terminal, wherein the feedback information comprises the user at-home picking time;

the calculation module is used for calculating the time of the express delivery reaching the delivery destination by taking the time of the express delivery reaching the distribution destination as a starting point based on the travel length;

the express delivery transportation device further comprises a comparison module, wherein the comparison module is used for comparing whether the time for the unmanned aerial vehicle to reach the delivery site is within the home delivery time of the user, if the time exceeds the home delivery time of the user, the delivery site is designated as a cell delivery point, and the cell delivery point is a temporary storage point of express delivery in a cell; if the user is in the time of taking goods at home, the goods receiving place is designated as a user address, and the user address comprises a balcony, a roof, a private courtyard or other private space of a building user;

the dispatch module is also used for sending the pickup information to the mobile terminal of the user, wherein the pickup information comprises the comparison of the position of the receiving point of the next cell or the address of the user and the time when the express arrives at the receiving point of the cell or the address of the user;

preferably, the receiving module is further configured to collect logistics information of the distributed location mark, further collect a corresponding delivery location to be received when the distributed location mark has prompt information to be shipped, and obtain current electric quantity of the unmanned aerial vehicle staying at the distributed location;

The express delivery transportation device further comprises a calculation module, wherein the calculation module is used for calculating the travel length of the serial connection of the flight channels between the distributed ground and the delivery ground, and calculating estimated power consumption of unmanned aerial vehicle flight based on the travel length;

the distributing module is further configured to send a flight instruction to the unmanned aerial vehicle control platform along with the unmanned aerial vehicle logistics channel if the current electric quantity is greater than the estimated power consumption;

more preferably, the collecting and distributing place marking place and the district receiving point are both provided with unmanned aerial vehicle charging piles; the unmanned aerial vehicle fills electric pile and is wireless charging equipment, is used for unmanned aerial vehicle wireless charging.

10. An electronic device, comprising a processor, a memory, an operation interface, and a network interface, wherein the memory is configured to store instructions, the operation interface and the network interface are configured to communicate with other devices, and the processor is configured to execute the instructions stored in the memory, so that the electronic device performs an express delivery method of the unmanned aerial vehicle according to any one of claims 1 to 7.