CN105487553A - Control method and device of unmanned aerial vehicle - Google Patents
Control method and device of unmanned aerial vehicle Download PDFInfo
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- CN105487553A CN105487553A CN201610013400.5A CN201610013400A CN105487553A CN 105487553 A CN105487553 A CN 105487553A CN 201610013400 A CN201610013400 A CN 201610013400A CN 105487553 A CN105487553 A CN 105487553A
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- 230000004044 response Effects 0.000 claims description 34
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- 230000001143 conditioned effect Effects 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a control method and device of an unmanned aerial vehicle. The method includes the following steps that: express parcel parameters of an express parcel carried by an unmanned aerial vehicle, which contain destination address information, are obtained; a flight path is generated according to current address information and the destination address information; and when receiving a take-off instruction, the unmanned aerial vehicle flies to an address corresponding to the destination address information based on the flight path. According to the control method, the unmanned aerial vehicle can deliver the express parcel to the address corresponding to the destination address information according to the inputted destination address information, and therefore, the unmanned aerial vehicle can complete of the delivery of the express parcel without additional control, and therefore, the delivery rate of the express parcel can be improved, and the delivery cost of the express parcel can be decreased.
Description
Technical field
The application relates to unmanned vehicle technical field, particularly relates to a kind of control method and device of unmanned vehicle.
Background technology
Along with the development of unmanned vehicle technology, had company to start discussion and unmanned vehicle is applied in logistics field, the pilot adopting unmanned vehicle to implement deliver goods and food delivery is served also not rarely seen.In whole express system, the limited mass that unmanned plane carries, but shipment and delivery cost is cheap, reaches circuit flexible, is used in the problem solving last one kilometer, is with a wide range of applications.
Last one kilometer problem in express delivery, delivery problems between express mail Distribution Center mainly in solution express system to final user, can imagine, in the scene addressed this problem with unmanned plane, express mail Distribution Center will have large quantities of unmanned planes, carry different express mails to fly to different destinations, how to configure the destination of unmanned plane fast and let rapidly unmanned plane fly away and become the key issue improving whole flow process.Traditional flies to control the problem that the mode adding unmanned plane can not solve quick despatch transport effectively.
Summary of the invention
Embodiments provide a kind of control method and device of unmanned vehicle, effectively cannot solve the problem of quick despatch transport in order to solve traditional unmanned vehicle in prior art.
Its concrete technical scheme is as follows:
A control method for unmanned vehicle, described method comprises:
Obtain the express mail parameter of the quick despatch that described unmanned vehicle carries, wherein, described express mail parameter at least comprises destination address information;
According to current address information and destination address information, generate navigation circuit;
Receive take off instruction time, based on described navigation route, navigation is to destination address corresponding to described destination address information.
Optionally, obtain the express mail parameter of the quick despatch that described unmanned vehicle carries, comprising:
The Quick Response Code on described quick despatch is scanned by Quick Response Code scanner;
Resolve described Quick Response Code, determine express mail parameter.
Optionally, according to current address information and destination address information, generate navigation circuit, comprising:
Whether detect described destination address information meets pre-conditioned;
If not, then generate the first information that prompting user re-enters destination address information, and show described first information by display screen;
If so, the described navigation route of described current address information to described destination address information is generated.
Optionally, receive take off instruction time, after navigation to destination address corresponding to described destination address information, described method also comprises:
Obtain the pickup parameter of user side, wherein, in described pickup parameter, at least contain user identification parameter;
Judge whether the described identification parameter in described pickup parameter mates with the identification parameter in described express mail parameter;
If so, user is then allowed to get described quick despatch;
If not, then generate and export the second information that prompting user re-enters identification parameter.
Optionally, after opening mechanical fastener, described method also comprises:
Whether pickup completes to detect described quick despatch;
If so, then generate and export the 3rd information, wherein, described 3rd information is for pointing out the steering order that described in user's input control, unmanned vehicle takes off;
When receiving the described steering order based on the 3rd information, transfer course back, and navigate by water according to described course back.
A control device for unmanned vehicle, comprising:
Collector, for obtaining the express mail parameter of the quick despatch that described unmanned vehicle carries, wherein, described express mail parameter at least comprises destination address information;
Navigation positioning unit, is connected with described collector, for determining the present bit address information of unmanned vehicle on electronic chart and destination address information;
Electronic chart unit, is connected with described navigation positioning unit, for according to described current address information and destination address information, generates navigation circuit;
Flight controller, is connected with described navigation positioning unit and described electronic chart unit, for receive take off instruction time, based on described navigation route, control the flight path of unmanned vehicle, until the flight of described unmanned vehicle is to destination address.
Optionally, described collector is specially Quick Response Code scanner, scans the Quick Response Code on described quick despatch by Quick Response Code scanner; Resolve described Quick Response Code, determine the express mail parameter comprising described destination address information and identification parameters that described Quick Response Code is corresponding.
Optionally, whether described electronic chart unit, meet pre-conditioned specifically for detecting described destination address information; If not, then generate the first information that prompting user re-enters destination address information, and show described first information by display screen; If so, the described navigation route of described current address information to described destination address information is generated.
Optionally, described collector, also for obtaining the pickup parameter of user side, wherein, at least contains user identification parameter in described pickup parameter;
Processor, is connected with collector, for judging whether the described identification parameter in described pickup parameter mates with the identification parameter in described express mail parameter; If so, then open mechanical fastener, get described quick despatch to make user; If not, then generate and export the second information that prompting user re-enters identification parameter.
Optionally, described collector, also for detecting described quick despatch, whether pickup completes;
Described flight controller, if also complete for pickup, then generates and exports the 3rd information, and wherein, described 3rd information is for pointing out the steering order that described in user's input control, unmanned vehicle takes off; When receiving the described steering order based on the 3rd information, transfer course back, and navigate by water according to described course back.
A kind of control method of unmanned vehicle is provided in the embodiment of the present invention, the method comprises: the express mail parameter comprising destination address information obtaining the quick despatch that unmanned vehicle carries, according to current address information and destination address information, generate navigation circuit, receive take off instruction time, based on navigation route, navigate by water to destination address corresponding to destination address information.That is, quick despatch can be transported to destination address corresponding to destination address information according to the destination address information of input by this unmanned vehicle, therefore unmanned vehicle just can complete the transport of quick despatch without the need to extra control, so not only can promote the transport speed of quick despatch, and the shipment and delivery cost of quick despatch can be reduced.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the control method of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 2 is the structural representation of the control device of a kind of unmanned vehicle in the embodiment of the present invention.
Embodiment
A kind of control method of unmanned vehicle is provided in the embodiment of the present invention, the method comprises: the express mail parameter comprising destination address information obtaining the quick despatch that unmanned vehicle carries, according to current address information and destination address information, generate navigation circuit, receive take off instruction time, based on navigation route, navigate by water to destination address corresponding to destination address information.That is, quick despatch can be transported to destination address corresponding to destination address information according to the destination address information of input by this unmanned vehicle, therefore unmanned vehicle just can complete the transport of quick despatch without the need to extra control, so not only can promote the transport speed of quick despatch, and the shipment and delivery cost of quick despatch can be reduced.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, be to be understood that, the explanation of concrete technical characteristic in the embodiment of the present invention and embodiment just to technical solution of the present invention, instead of limit, when not conflicting, the concrete technical characteristic in the embodiment of the present invention and embodiment can combine mutually.
Be illustrated in figure 1 the process flow diagram of the control method of a kind of unmanned vehicle in the embodiment of the present invention, the method comprises:
S101, obtains the express mail parameter of the quick despatch that unmanned vehicle carries;
In embodiments of the present invention, the express mail parameter that unmanned vehicle obtains on quick despatch can be obtained by the Quick Response Code on scanning quick despatch, that is the Quick Response Code scanner on unmanned vehicle can scan the Quick Response Code on quick despatch, then the Quick Response Code scanned is resolved, obtain the destination address information of quick despatch, namely this quick despatch needs the position that is transported to.Certainly, in this Quick Response Code, further comprises identification parameter, this identification parameter is specially user profile, such as cell-phone number of the title of user, user etc.
Certainly, except the mode by scanning Quick Response Code obtains destination address information and identification parameter, can also be that user inputs destination address information and identification parameter manually, input destination address information and identification parameter say by the physical button on unmanned vehicle, destination address information and identification parameter can also be inputted by the touching display screen on unmanned vehicle.Except above-mentioned mode, destination address information and identification parameter can also be inputted by other means, just illustrate no longer one by one at this.
The mode of this task matching destination address information, in the packing box that destination address information can be integrated in transported article or external packing, present in the mode of Quick Response Code, like this, when allocating task, distribution personnel only need unmanned plane and transported article to carry out barcode scanning checking, fast can complete express delivery task matching.
S102, according to current address information and destination address information, generates navigation route;
After mode gets destination address information in by step S101, unmanned vehicle will get current address information by navigation positioning module, thus just can determine a navigation circuit by current address information and destination address information on electronic chart.
Further, when generating navigation route, whether unmanned vehicle conflicts detecting the navigation route self generated with the navigation route of other unmanned vehicles, if when there is conflict, then unmanned vehicle will adjust navigation route, ensure the security of the navigation route generated like this.
Further, in embodiments of the present invention, in order to ensure the accuracy of destination address information, after getting destination address information, it is pre-conditioned whether testing goal address information meets, here determine whether that meeting pre-conditioned can be detect whether to there is destination address corresponding to this destination address information on electronic chart, or whether the distance of destination address corresponding to testing goal address information and current address exceedes threshold value, such as current address is Chengdu, Sichuan Province, and destination address is Shanghai City, what the distance between Chengdu and Shanghai City had been greater than unmanned vehicle can distance to go, here distance to go can be determined according to battery rainfall or determine according to the navigation laws of locality.In such cases, unmanned vehicle will refuse this subtask, and unmanned vehicle is by generation first information, and show the first information by display screen, and this first information re-enters destination address information for pointing out user; Also such as, the destination address information obtained is " No. cc, aaa street, XX city ", but No. cc, aaa street is there is not in XX city, namely this destination address information does not exist, now unmanned vehicle is also by generation first information, and show the first information by display screen, prompting customer objective address information mistake.The destination address information of unmanned vehicle to mistake further can be enable like this to point out, improve unmanned vehicle and efficiency is sent with charge free to quick despatch.
S103, when receiving take off control instruction, based on navigation route, navigates by water to destination address corresponding to destination address information.
After generation navigation route, whether real-time detection is received take off control instruction by unmanned vehicle, and in embodiments of the present invention, this take off control instruction can be that the physical button on unmanned vehicle produces.Such as, unmanned vehicle is arranged one and start button, as long as when user presses this startup button, this unmanned vehicle will obtain take off control instruction.
Certainly, if when unmanned vehicle being provided with a touching display screen, unmanned vehicle will show a virtual key on touching display screen, and certain user is when touch control operation is carried out in the viewing area showing virtual key, and unmanned vehicle will obtain take off control instruction.
Two kinds of above-mentioned modes are the comparatively simple mode that the embodiment of the present invention provides, and can also come to send take off control instruction to unmanned vehicle by mobile phone A pp, or other controllers send take off control instruction in the embodiment of the present invention.Specifically do not limit the implementation that unmanned vehicle obtains take off control instruction in embodiments of the present invention.
After obtaining take off control instruction, the flight controller in unmanned vehicle will based on generation navigation route boat, until navigation is to destination address corresponding to destination address information.
Here it should be noted that, in order to ensure that quick despatch can transport to the user of correspondence, therefore in unmanned vehicle, also saving identification parameter, this identification parameter is for identifying the user of pickup.
Therefore, after the destination address that unmanned vehicle navigation is corresponding to destination address information, whether the real-time detection of unmanned flight's device has user's pickup, when user's pickup, unmanned vehicle will get the identification parameter of user's input, and the identification parameter that user inputs by unmanned vehicle is mated with the identification parameter self stored, if coupling, then unmanned vehicle will open mechanical fastener, the quick despatch making user can take out unmanned vehicle like this to carry.If do not mate, then unmanned flight's device exports the second information that prompting user re-enters identification parameter.Second information can be shown by the display screen of unmanned vehicle, or exports in other way.
Here it should be noted that, the identification parameter of user's input can be the Quick Response Code that user terminal receives, when user needs to take out the quick despatch on unmanned vehicle, user can open Quick Response Code, then the Quick Response Code scanner on unmanned vehicle is by this Quick Response Code of scanning, if the address name in this Quick Response Code and cell-phone number identical with the address name prestored and cell-phone number time, then the identification parameter that determines one's identity mate, now just open mechanical fastener.Certainly, except scanning Quick Response Code, all right user's input validation information on unmanned vehicle, such as the identifying code that user terminal receives, if when the identifying code of user's input mates with the identifying code prestored, then allow user to get quick despatch.
Certainly, the situation of two kinds of identifications is merely illustrated in the above embodiments, except above-mentioned embodiment, can also realize in other way, do not limit concrete implementation in embodiments of the present invention, as long as the identification to user identity can be realized, then all should in the scope that inventive embodiments comprises.
Further, after user's pickup completes, unmanned vehicle is by generation and export the 3rd information, 3rd information is for pointing out user's input control steering order that unmanned vehicle takes off, when receiving the steering order based on the 3rd information, transfer course back, and navigate by water according to course back.That is, after user's pickup completes, user can, by indicating unmanned vehicle to make a return voyage by physical button, if unmanned vehicle has touching display screen, then can indicate unmanned vehicle to make a return voyage by operation touching display screen.Here navigation route can be make a return voyage according to the navigation route originally determined, also can redefine navigation route.
In the embodiment of the present invention, unmanned vehicle obtains the express mail parameter comprising destination address information of the quick despatch carried, according to current address information and destination address information, generate navigation circuit, receive take off instruction time, based on navigation route, navigate by water to destination address corresponding to destination address information.That is, quick despatch can be transported to destination address corresponding to destination address information according to the destination address information of input by this unmanned vehicle, therefore unmanned vehicle just can complete the transport of quick despatch without the need to extra control, so not only can promote the transport speed of quick despatch, and the shipment and delivery cost of quick despatch can be reduced.
In embodiments of the present invention, unmanned vehicle does not require the flight path of fancy, but between two selected points, preferably determine according to through actual measurement, route the safest flies, so have rejected the mode that ground control cabinet controls one to one to unmanned vehicle in invention technical scheme completely, but all depend on fixing flight path to carry out controlled flight, so, user is at task point of departure, only need the work carrying out destination address information collection and input, distribution of just finishing the work.
A kind of control method of unmanned vehicle in the corresponding embodiment of the present invention, a kind of control device of unmanned vehicle is additionally provided in the embodiment of the present invention, be illustrated in figure 2 the structural representation of the control device of a kind of unmanned vehicle in the embodiment of the present invention, this device comprises:
Collector 201, for obtaining the express mail parameter of the quick despatch that described unmanned vehicle carries, wherein, described express mail parameter at least comprises destination address information;
Navigation positioning unit 202, is connected with described collector 201, for determining the present bit address information of unmanned vehicle on electronic chart and destination address information;
Electronic chart unit 203, is connected with described navigation positioning unit 202, for according to described current address information and destination address information, generates navigation circuit;
Flight controller 204, be connected with described navigation positioning unit 202 and described electronic chart unit 203, for receive take off instruction time, based on described navigation route, control the flight path of unmanned vehicle, until the flight of described unmanned vehicle is to destination address.
Further, in embodiments of the present invention, collector 201 can be specifically Quick Response Code scanner, scans the Quick Response Code on described quick despatch by Quick Response Code scanner; Resolve described Quick Response Code, determine the express mail parameter comprising described destination address information and identification parameters that described Quick Response Code is corresponding.
Further, in embodiments of the present invention, whether electronic chart unit 203, meet pre-conditioned specifically for detecting described destination address information; If not, then generate the first information that prompting user re-enters destination address information, and show described first information by display screen; If so, the described navigation route of described current address information to described destination address information is generated.
Further, in embodiments of the present invention, described collector 201, also for obtaining the pickup parameter of user side, wherein, at least contains user identification parameter in described pickup parameter;
Processor, is connected with collector 201, for judging whether the described identification parameter in described pickup parameter mates with the identification parameter in described express mail parameter; If so, user is then allowed to get described quick despatch; If not, then generate and export the second information that prompting user re-enters identification parameter.
Further, in embodiments of the present invention, described collector 201, also for detecting described quick despatch, whether pickup completes;
Described flight controller 204, if also complete for pickup, then generates and exports the 3rd information, and wherein, described 3rd information is for pointing out the steering order that described in user's input control, unmanned vehicle takes off; When receiving the described steering order based on the 3rd information, transfer course back, and navigate by water according to described course back.
Although described the preferred embodiment of the application, one of ordinary skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the application's scope.
Obviously, those skilled in the art can carry out various change and modification to the application and not depart from the spirit and scope of the application.Like this, if these amendments of the application and modification belong within the scope of the application's claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. a control method for unmanned vehicle, is characterized in that, described method comprises:
Obtain the express mail parameter of the quick despatch that described unmanned vehicle carries, wherein, described express mail parameter at least comprises destination address information;
According to current address information and destination address information, generate navigation circuit;
Receive take off instruction time, based on described navigation route, navigation is to destination address corresponding to described destination address information.
2. the method for claim 1, is characterized in that, obtains the express mail parameter of the quick despatch that described unmanned vehicle carries, comprising:
The Quick Response Code on described quick despatch is scanned by Quick Response Code scanner;
Resolve described Quick Response Code, determine express mail parameter.
3. the method for claim 1, is characterized in that, according to current address information and destination address information, generates navigation circuit, comprising:
Whether detect described destination address information meets pre-conditioned;
If not, then generate the first information that prompting user re-enters destination address information, and show described first information by display screen;
If so, the described navigation route of described current address information to described destination address information is generated.
4. the method for claim 1, is characterized in that, after the destination address that navigation is corresponding to described destination address information, described method also comprises:
Obtain the pickup parameter of user side, wherein, in described pickup parameter, at least contain user identification parameter;
Judge whether the described identification parameter in described pickup parameter mates with the identification parameter in described express mail parameter;
If so, user is then allowed to get described quick despatch;
If not, then generate and export the second information that prompting user re-enters identification parameter.
5. method as claimed in claim 4, it is characterized in that, described method also comprises:
Whether pickup completes to detect described quick despatch;
If so, then generate and export the 3rd information, wherein, described 3rd information is for pointing out the steering order that described in user's input control, unmanned vehicle takes off;
When receiving the described steering order based on the 3rd information, transfer course back, and navigate by water according to described course back.
6. a control device for unmanned vehicle, is characterized in that, comprising:
Collector, for obtaining the express mail parameter of the quick despatch that described unmanned vehicle carries, wherein, described express mail parameter at least comprises destination address information;
Navigation positioning unit, is connected with described collector, for determining the present bit address information of unmanned vehicle on electronic chart and destination address information;
Electronic chart unit, is connected with described navigation positioning unit, for according to described current address information and destination address information, generates navigation circuit;
Flight controller, is connected with described navigation positioning unit and described electronic chart unit, for receive take off instruction time, based on described navigation route, control the flight path of unmanned vehicle, until the flight of described unmanned vehicle is to destination address.
7. device as claimed in claim 6, it is characterized in that, described collector is specially Quick Response Code scanner, scans the Quick Response Code on described quick despatch by Quick Response Code scanner; Resolve described Quick Response Code, determine the express mail parameter that described Quick Response Code is corresponding.
8. whether device as claimed in claim 6, is characterized in that, described electronic chart unit meet pre-conditioned specifically for detecting described destination address information; If not, then generate the first information that prompting user re-enters destination address information, and show described first information by display screen; If so, the described navigation route of described current address information to described destination address information is generated.
9. device as claimed in claim 6, is characterized in that, described collector, also for obtaining the pickup parameter of user side, wherein, at least containing user identification parameter in described pickup parameter;
Processor, is connected with described collector, for judging whether the described identification parameter in described pickup parameter mates with the identification parameter in described express mail parameter; If so, user is then allowed to get described quick despatch; If not, then generate and export the second information that prompting user re-enters identification parameter.
10. device as claimed in claim 9, it is characterized in that, described collector, also for detecting described quick despatch, whether pickup completes;
Described flight controller, if also complete for pickup, then generates and exports the 3rd information, and wherein, described 3rd information is for pointing out the steering order that described in user's input control, unmanned vehicle takes off; When receiving the described steering order based on the 3rd information, transfer course back, and navigate by water according to described course back.
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| CN105974929A (en) * | 2016-06-11 | 2016-09-28 | 深圳市哈博森科技有限公司 | Unmanned plane control method based on operation and control of intelligent device |
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