CN106485456A - A kind of way of transportation and air navigation aid - Google Patents
A kind of way of transportation and air navigation aid Download PDFInfo
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- CN106485456A CN106485456A CN201610956931.8A CN201610956931A CN106485456A CN 106485456 A CN106485456 A CN 106485456A CN 201610956931 A CN201610956931 A CN 201610956931A CN 106485456 A CN106485456 A CN 106485456A
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- 238000012384 transportation and delivery Methods 0.000 abstract description 45
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0832—Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
Abstract
The present invention provides a kind of way of transportation and air navigation aid.Described way of transportation includes：Execute the first guidance path using motor device, described first guidance path is included for starting the first location information and the second location information for terminating transport transported；When motor device goes to described first location information, using automatic equipment execute the second guidance path complete transport, described second guidance path with described first location information as starting point, with described second location information as terminal.Described air navigation aid includes executing the first guidance path, and described first guidance path includes the first predetermined location information and the second location information；Execute described first guidance path the first location information when, execute the second guidance path, described second guidance path with described first location information as starting point, with described second location information as terminal.Technical solution of the present invention can improve transport delivery efficiency on the premise of ensureing quality.
Description
Technical field
The present invention relates to computer controls field, particularly to a kind of way of transportation and air navigation aid.
Background technology
With social development, net purchase has become the main shopping way of consumer, a leading transaction complete each
In individual link, express delivery industry plays the important and pivotal role wherein.But, express delivery row more and more hot with net purchase market
Industry loading also rises therewith year by year.Meanwhile, consumer residence dispersion, Roads in Residential Area complex structure, if courier
Cell terrain is unfamiliar with, often goes in A place in the way in B place, also can spend very long because cell road is cranky
Time.In addition factor that courier's work is heavy, operating pressure is big etc., situation goods being obscured, losing part also often occurs.Though
Ran Ge great express company all introduces advanced logistic management system, but is delivering goods to the customers one by one in the face of express delivery industry final tache
On, still at a loss what to do.Can only be by way of extensive increase manpower, but this necessarily leads to the pressure that cost increase is brought again
Power.
At present, the express delivery difficult problem keeping the Internet business development in check in the face of this, provides some solutions in prior art.
For example, it is proposed that a kind of express delivery based on four-axle aircraft is transported in the patent application document of application number 201410276432.5
Defeated system, express transportation method and monocular barrier-avoiding method, its by the Client handset of C/S framework, PC management platform, server,
Four-axle aircraft, carries out data communication using mobile communication between its structural feature PC management platform and four-axle aircraft,
Client handset is used for sending express delivery information to server, and PC management platform is used for sending gps coordinate, Ke Huxin to four-axle aircraft
Breath, positioning and express delivery information, the express delivery information of server storage transfer Client handset and PC management platform.Although the program turns round and look at
And the unrestricted choice to delivery opportunity for the user, and theoretically can overcome the inconvenience that complicated landform causes, but, ignore
The today constantly rising in express delivery average daily delivery amount, if depend four-axle aircraft alone to carry out delivery, it is difficult to meet daily fast
Pass bearing capacity.Meanwhile, if by way of increasing four-axle aircraft quantity, but this will necessarily bring rising and the peace of cost again
Full hidden danger.
At this stage, the extraordinary method of neither one can solve the problems, such as mentioned above.
Content of the invention
Technical solution of the present invention solve technical problem be：On the premise of ensureing service quality, how to improve express delivery fortune
The technical problem of conveying goods efficiency.
In order to solve above-mentioned technical problem, technical solution of the present invention provides a kind of way of transportation, including：
Execute the first guidance path using motor device, described first guidance path includes first fixed for start to transport
Position information and the second location information for terminating transport；When motor device goes to described first location information, using certainly
Dynamic equipment executes the second guidance path to complete to transport, described second guidance path with described first location information as starting point, with
Described second location information is terminal.
Optionally, described automatic equipment is unmanned plane or robot.
Optionally, described second guidance path includes transporting location information, described use automatic equipment execution second navigation
Path includes：When described automatic equipment goes to described transport location information, automatic equipment completes to transport.
Optionally, described first guidance path and the second guidance path are received.
Optionally, described first location information is consistent with the second location information.
Optionally, determine described second location information after completing transport.
Optionally, described second guidance path includes the 3rd guidance path, after completing transport, described use automatic equipment
Execute the second guidance path to include：
Obtain the primary importance information of presently described automatic equipment and the second position information of described motor device；
Produce the 3rd guidance path between described primary importance information and second position information, described second location information
Terminal for described 3rd guidance path.
Optionally, described the 3rd guidance path producing between described primary importance information and second position information is based on and leads
Boat system.
Optionally, described the 3rd guidance path producing between described primary importance information and second position information includes：
Detect the distance between described primary importance information and second position information；
If described distance is not less than preset distance, produce described 3rd guidance path using navigation system；
If described distance is less than preset distance, produce described 3rd guidance path using vision localization.
Optionally, described navigation system includes GPS navigation system or BDS navigation system.
In order to solve above-mentioned technical problem, technical solution of the present invention provides a kind of air navigation aid, including：
Execute the first guidance path, described first guidance path includes the first predetermined location information and the second positioning letter
Breath；Execute described first guidance path the first location information when, execute the second guidance path, described second guidance path with
Described first location information is starting point, with described second location information as terminal.
Optionally, described first guidance path and the second guidance path are received.
Optionally, described first location information is consistent with the second location information.
Optionally, determine described second location information during executing described second guidance path.
Optionally, described second guidance path includes the 3rd guidance path, during executing described second guidance path, institute
State execution the second guidance path to include：
Obtain the primary importance information that at present execution first guidance path reaches and execution second guidance path reaches the
Two positional informationes；
Produce the 3rd guidance path between described primary importance information and second position information, described second location information
Terminal for described 3rd guidance path.
Optionally, described the 3rd guidance path producing between described primary importance information and second position information includes：
Detect the distance between described primary importance information and second position information；
If described distance is not less than preset distance, produce described 3rd guidance path using navigation system；
If described distance is less than preset distance, produce described 3rd guidance path using vision localization.
Optionally, described navigation system includes GPS navigation system or BDS navigation system.
Beneficial effects of the present invention at least include：
A kind of way of transportation according to the present invention overcomes the impact that delivery area landform domain complexity is brought, and sets by motor-driven
The mode that standby and automatic equipment cooperates, and plan by way of guidance path by terminal server, accurately plan delivery
Route, thus on the premise of ensureing delivery quality and mentioning efficiency, complete delivery task.
Technical scheme additionally provides the method that multiple automatic equipments and multiple navigation mode cooperate, and enters one
Step improves the efficiency transporting delivery in region.
Technical scheme additionally provides a kind of navigation mode, can accurately cook up machine in certain area
Dynamic equipment and the route map of automatic equipment, thus improve the efficiency transporting delivery in region.
Brief description
The detailed description with reference to the following drawings, non-limiting example made by reading, other features of the present invention,
Objects and advantages will become more apparent upon：
Fig. 1 illustrates the first specific embodiment according to the present invention, a kind of schematic flow sheet of way of transportation；
Fig. 2 illustrates according to the present invention, a kind of transportation route schematic diagram；
Fig. 3 illustrates the second specific embodiment according to the present invention, a kind of schematic flow sheet of way of transportation；
Fig. 4 illustrates according to the present invention, a kind of transportation route schematic diagram；
Fig. 5 illustrates the 3rd specific embodiment according to the present invention, a kind of schematic flow sheet of way of transportation；
Fig. 6 illustrates a change case of the 3rd specific embodiment according to the present invention, a kind of signal stream of way of transportation
Cheng Tu；
Fig. 7 illustrates the 4th specific embodiment according to the present invention, a kind of schematic flow sheet of air navigation aid；And,
Fig. 8 illustrates according to the present invention, a kind of guidance path schematic diagram.
Specific embodiment
In order to preferably make technical scheme clearly show, below in conjunction with the accompanying drawings the present invention is made into one
Step explanation.
It will be appreciated by those skilled in the art that in order on the premise of ensureing quality, solve how to improve existing transport delivery effect
The technical problem of rate, technical program of the present invention lies in providing a kind of mode combining using motor device and automatic equipment
Solution.The solution being provided by the present invention, can greatly improve existing transport delivery on the premise of ensureing quality
Efficiency.
Fig. 1 illustrates the first specific embodiment according to the present invention, a kind of flow chart of way of transportation.Fig. 2 illustrates basis
The present invention's, a kind of transportation route schematic diagram.Describe first specific embodiment of the present invention for convenience, will carry out in conjunction with Fig. 2
Description, the method includes several steps as follows：
First, enter step S101, execute the first guidance path using motor device.Specifically, described motor device is
The equipment that there is certain cargo capacity, can travel, be used for transport is referred on road, it will be appreciated by those skilled in the art that such as common
The automobile carrying container for transport, with reference to Fig. 2, described first guidance path refers to described motor device on main road
Preset path L travelling, described motor device travels on described first guidance path, transports goods destination P3By bypass
The main road being located with described first guidance path is connected；Described preset path passes through terminal server according to target delivery area
The path that domain is planned in advance, terminal server is probably the server that carrier provides or third party provides.More specific
Ground, described motor device starts to execute the first guidance path, that is, refer to motor device according to the pre-set road of terminal server
Footpath, starts to move in target delivery region.
Further, described first guidance path includes the first location information for starting transport and transports for end
The second location information.Specifically, with continued reference to Fig. 2, P0For the initial position of described first guidance path, that is, described motor-driven set
Standby enter delivery region after, the initial position of execution terminal server institute path planning；Described first location information P1Refer to end
A position on default, described first guidance path of server of end；Described second location information P2I.e. terminal server
Another position on described default, described first guidance path.
Then, enter step S102, motor device goes to the first location information.Specifically, with continued reference to Fig. 2, step
S102 refers to described motor device and moves on the road of target area according to described first guidance path, reaches described first navigation
First location information P on path1Corresponding target area position.
Finally, execution step S103, executes the second guidance path using automatic equipment and completes to transport.Specifically, continue
With reference to Fig. 2, described automatic equipment refers to adopt automatic technology, runs according to set program, without manual physical labor's
Pay, such as unmanned plane or robot etc.；Described second guidance path with described first location information as starting point, with described second
Location information is terminal, namely described first location information P that described automatic equipment is located by described motor device1Set out, will
Goods handling extremely transports goods destination P3, then from transport goods destination P3Return to that on described motor device, (motor device is now
In the second location information P2On position) path, that is, complete task paths traversed of delivering goods to the customers.
Further, described automatic equipment is unmanned plane or robot.Specifically, described unmanned plane is unmanned flying
Referred to as, english abbreviation is " UAV " to machine, is to be flown with the not manned of presetting apparatus manipulation provided for oneself using radio robot
Machine.Can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL machine, unmanned airship, depopulated helicopter, no
People's multi-rotor aerocraft, unmanned parasol etc.；Described robot machine people (Robot) is the installations automatically executing work.
It both can accept mankind commander, can run the program of layout in advance it is also possible to according to formulating with artificial intelligence technology again
Principle guiding principle is taken action.
It should be noted that comparing described robot, described unmanned plane is better able to adapt to complex environment, specifically, no
Limited as described robot is planned by terrestrial path, needed the difficulty that the road environment overcoming complexity is brought.Described nothing
The man-machine ground environment that can avoid complexity, directly completes delivery by the rectilinear flight of point-to-point transmission, so can save a lot
Time, also reduce the probability of error.The unmanned plane of indication of the present invention is preferably unmanned multi-rotor aerocraft, as four common rotations
Rotor aircraft.Four rotors on quadrotor generally adopt cross symmetrical, and during flight, four rotors mutually offset
Disappearing convolution impact, need not single rotor craft anti-torque rotor, more energy-conservation also reduces the volume of aircraft simultaneously；Meanwhile,
Quadrotor adjusts attitude of flight vehicle by adjusting the rotating speed of four rotors；Most of all, four-rotor helicopter by
In there being multiple rotors, there is certain lifting capacity, simultaneously blade can also be made less it is easy to miniaturization.Art technology
Personnel understand although being limited by external environmental factor, but described robot continue a journey and transport large cargo when, again than nobody
Machine has more advantage.
Battery life in order to solve unmanned plane shorter it is preferable that haulage vehicle travel but unmanned plane do not take over
During business, the battery of unmanned plane is constantly in charged state, and after being connected to task, side departs from from charging pile, and make a return voyage unloading backsight
The electricity consumption situation of battery, unmanned plane can automatically select and whether return to charging pile and be charged.When unmanned plane takes off, haulage vehicle
Top will be opened, and directly takes off at the launching platform of the top end opening of haulage vehicle, and when task is more numerous and diverse, platform quantity can
More than one.After unmanned plane makes a return voyage, automatic loading and unloading goods will carried out so that the need of next flight.
In order to be better understood from the technical scheme of first specific embodiment of the present invention, carry out comprehensive explanation below, with auxiliary
Assistant solves.Terminal server is in advance based on some region of map and transport goods destination has configured route map, route map bag
Include described first guiding path and the second guidance path described at least one, described motor device is according to preset described first
Guidance path moves, and when described motor device reaches described first location information, described automatic equipment sets out and according to default
The second guidance path complete delivery task, be then return on described motor device.
Further, described second guidance path includes transporting location information, and described use automatic equipment execution second is led
Bit path includes：When described automatic equipment goes to described transport location information, automatic equipment completes to transport.Specifically, join
According to Fig. 2, described transport location information corresponds to the P at least one Fig. 23Position, it will be appreciated by those skilled in the art that in target area
In the range of domain, at least have a transport goods destination, therefore, described second guidance path has at least one P3Position
Put, meanwhile, described automatic equipment, during executing described second guidance path, needs at least one P3Stop on position with
Complete delivery, these positions are planned in advance by terminal server, described transport location information is formed on the second guidance path.
Described automatic equipment completes transport task according to described transport location information.
Fig. 3 illustrates the second specific embodiment according to the present invention, a kind of flow chart of way of transportation, and Fig. 3 is based on Fig. 1.
Second specific embodiment includes several steps as follows：
First, enter step S301, receive described first guidance path and the second guidance path.Specifically, described reception,
Refer to described motor device and receive described first guidance path and the second guidance path, and described second guidance path is transferred to
Described automatic equipment, to help described automatic equipment to complete delivery task.Described first guidance path and the second guidance path are by end
Produced by the planning that end server is carried out in the distributing position on delivery region previously according to delivery region and delivery destination
Optimum delivery scheme.
Then, enter step S302, execute the first guidance path using motor device.Specifically, in the first concrete reality
Apply described in example, it will not go into details herein.
Next, execution step S303, motor device execution described first location information of arrival.Specifically, first
Described in specific embodiment, it will not go into details herein.
Finally, enter step S304, execute the second guidance path using automatic equipment and complete to transport.Specifically, exist
Described in first specific embodiment, it will not go into details herein.
Further, described first location information is consistent with the second location information.Specifically, as Fig. 4 illustrates according to this
Bright, a kind of transportation route schematic diagram.Described unanimously refer to described first location information P1With described second location information P2Weight
Close, namely described motor device reaches described first location information P1Afterwards, described automatic equipment sets out and executes delivery task, now
Described motor device is still in described first location information P1Described automatic equipment is waited to return on position, described automatic equipment is complete
After becoming delivery task, return on described motor device, namely return to described first location information P1On position.
Fig. 5 illustrates the 3rd specific embodiment according to the present invention, a kind of flow chart of way of transportation, and Fig. 5 is based on Fig. 1,
It is to be appreciated that being in place of difference, the end position of the second guidance path described in the 3rd specific embodiment, that is, described the
Two location informations not pre-set, with reference to Fig. 2, namely described second location information P2Pre- on not described first guidance path
The fixed position point first arranging.3rd specific embodiment includes several steps as follows：
First, enter step S501, execute the first guidance path using motor device.Specifically, in the first concrete reality
Apply described in example, it will not go into details herein.
Then, execution step S502, motor device execution reaches described first location information, specifically, in the first tool
Described in body embodiment, it will not go into details herein.
Finally, execution step S503, determines described second location information after completing transport.Specifically, with reference to Fig. 2, this
Skilled person understands, when described motor device moves to described first location information P1When, before described automatic equipment sets out
Toward described transport location information P3Position simultaneously completes delivery, in this process, described motor device have been moved off described
First location information P1, reach and be different from described first location information P1The second location information P2, terminal server is by positioning
Mode determine described second location information P2, then further according to described automatic equipment be located described transport location information P3 with
Described second location information P2, plan that described automatic equipment returns to the path on described motor device, and routing information transmitted
To described automatic equipment, described automatic equipment returns on described motor device according to routing information.
Further, described second guidance path includes the 3rd guidance path, and after completing transport, described use sets automatically
Standby execution the second guidance path includes：Obtain the primary importance information of presently described automatic equipment and the second of described motor device
Positional information；Produce the 3rd guidance path between described primary importance information and second position information, described second positioning letter
Cease the terminal for described 3rd guidance path.With continued reference to Fig. 2, described primary importance information corresponds to the P in Fig. 23Position, institute
State second position information and correspond to the P in Fig. 22Position.Described terminal server obtains first of presently described automatic equipment
After the second position information of confidence breath and described motor device, carry out the path rule that described automatic equipment returns to described excitement equipment
Draw, form described 3rd guidance path, and the 3rd navigation route information is sent to described automatic equipment, described automatic equipment is pressed
Return on described motor device according to described 3rd guidance path.
Further, described the 3rd guidance path producing between described primary importance information and second position information is based on
Navigation system.In this preferred version, described automatic equipment carries navigation system, specifically, with reference to Fig. 2, in P3Position completes
After delivery task, the navigation system that described automatic equipment passes through to carry determines the current location of described motor device, then calculates
Draw return path, and return on described motor device.More specifically, described navigation system include GPS navigation system or
BDS navigation system.Specifically, described GPS navigation system refers to utilize GPS positioning satellite, and it is fixed to carry out in real time in the world
Position, the system of navigation, referred to as GPS, there is comprehensive, round-the-clock, all the period of time, high-precision satellite navigation
System, can provide the navigation informations such as low cost, high accuracy three-dimensional position, speed and accurate timing for Global Subscriber.Described BDS
Navigation system refers to that Beidou satellite navigation system is made up of space segment, ground segment and user segment three part, can be in the world
Round-the-clock, round-the-clock provides high accuracy, highly reliable positioning, navigation, time service service for all types of user, and possesses short message communication energy
Power, has tentatively possessed area navigation, positioning and time service ability, 10 meters of positioning precision.
In an embodiment of the 3rd specific embodiment, described automatic equipment and described motor device distance are in 5 meter levels
Not above part takes GPS or BDS navigation can complete, but below 5 meters, concrete scene is delivered to specific user
Appointed place, or when returning in described motor device, the other navigator of needs auxiliary, such as infrared navigation, or
Person's vision guided navigation, needs to be accurate to a centimetre rank.
Fig. 6 illustrates a change case of the 3rd specific embodiment according to the present invention, a kind of flow chart of way of transportation,
Fig. 6 is based on Fig. 5, including several steps as follows：
First, enter step S601, execute the first guidance path using motor device.Specifically, in embodiment one
Description, it will not go into details herein.
Then, execution step S602, motor device execution reaches described first location information, specifically, in embodiment
Described in one, it will not go into details herein.
Next, entering step S603, detect the distance between described primary importance information and second position information.Specifically
Ground, with reference to Fig. 2, terminal server by alignment system measure between described primary importance information and second position information away from
From i.e. P on Fig. 23Position is to P2The distance of position.
Then, execution step S604, judges whether described distance is more than or equal to preset distance.Specifically, described pre- spacing
The reference distance pre-setting from i.e. terminal server, described distance is compared by terminal server with described preset distance,
Obtain a result, and plan the 3rd guidance path on this basis.
Next, execution step S605, if described distance is more than or equal to preset distance, produce described the using navigation system
Three guidance paths；If described distance is less than preset distance, produce described 3rd guidance path using vision localization.Specifically,
When described distance is not less than preset distance, terminal server cooks up described 3rd guidance path by long range positioning, and by the
Three navigation route informations are transferred to described automatic equipment, and described automatic equipment returns to described motor device according to the 3rd guidance path
On；If described distance is less than preset distance, the image recognition system carrying by described automatic equipment, identify field range
Interior described motor device, is then based on recognition result execution the 3rd guidance path and returns on described motor device.Preferably, institute
When stating preset distance for 10 meters, positioned by image recognition system, error can be controlled in a centimetre rank.
Finally, execution step S606, described automatic equipment returns on described motor device.Specifically, described automatic equipment
Return on described motor device according to the path produced by mode that step S605 determines.
Fig. 7 illustrates the 4th specific embodiment according to the present invention, a kind of flow chart of air navigation aid, including：
First, enter step S701, receive described first guidance path and the second guidance path.Described guidance path, that is,
According to certain area landform and destination locations information, the route planning completing.Described first guidance path and the second guidance path
It is the guidance path being drawn according at least one destination locations planning on certain area and this region by terminal server.Then
Terminal server sends described first guidance path and the second guidance path to task execution device, and task execution device is according to institute
State the first guidance path and the second guidance path execution task.For example, illustrate according to the present invention with reference to Fig. 8, a kind of navigation road
Footpath figure, express company will execute delivery task in certain cell, and delivery destination includes the P positioned at this cell3And P4At two
Cargo transport destination, and P3And P4It is located off at two on the branch road of cell trunk roads, it will be appreciated by those skilled in the art that passing through
Terminal server computing, described motor device loading thing is from P0Start to move, and along P1To P2Advancing in path, described first leads
Bit path；Described motor device reaches P1When, go delivery before discharging described automatic equipment, described automatic equipment is along P1To P3Path,
Go to P3Position delivery, then along P3To P4Path, goes to P4Position delivery, tailing edge P4Return on lorry to P2 path, described
The road strength that automatic equipment passes through is described second guidance path.And described first guidance path and described second guidance path by
Terminal server is planned in advance.
Then, enter step S702, execute the first guidance path, move according to the planning of described first guidance path.
With continued reference to Fig. 8, described first guidance path includes the first location information P1And second location information P2, with regard to described positioning letter
, described in the first specific embodiment, it will not go into details herein for breath.
Next, entering step S703, when executing the first location information of described first guidance path, execution second is led
Bit path.Specifically, when task receptor is according to described first guidance path execution task, and it is fixed to move to described primary importance
Position information.Terminal server sends execution the second guidance path instruction, starts to execute the second guidance path.For example, with continued reference to
Fig. 8, described motor device moves to the first location information P on the first guidance path1When, described motor device release is described certainly
Dynamic equipment, according to default second guidance path execution delivery task, that is, described automatic equipment is along P for described automatic equipment1To P3Road
Footpath, goes to P3Position delivery, then along P3To P4Path, goes to P4Position delivery, tailing edge P4Return on lorry to P2 path.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (17)
1. a kind of way of transportation is it is characterised in that include：Execute the first guidance path, described first navigation using motor device
Path is included for starting the first location information and the second location information for terminating transport transported；In motor device execution
During to described first location information, execute the second guidance path using automatic equipment and complete to transport, described second guidance path
With described first location information as starting point, with described second location information as terminal.
2. way of transportation as claimed in claim 1 is it is characterised in that described automatic equipment is unmanned plane or robot.
3. way of transportation as claimed in claim 1 it is characterised in that described second guidance path include transport location information,
Described use automatic equipment executes the second guidance path and includes：When described automatic equipment goes to described transport location information,
Automatic equipment completes to transport.
4. way of transportation as claimed in claim 1 is it is characterised in that also include：Receive described first guidance path and second
Guidance path.
5. way of transportation as claimed in claim 1 is it is characterised in that described first location information and the second location information one
Cause.
6. way of transportation as claimed in claim 1 is it is characterised in that also include：Determine that described second is fixed after completing transport
Position information.
7. way of transportation as claimed in claim 1 is it is characterised in that described second guidance path includes the 3rd guidance path,
After completing transport, described use automatic equipment executes the second guidance path and includes：
Obtain the primary importance information of presently described automatic equipment and the second position information of described motor device；
Produce the 3rd guidance path between described primary importance information and second position information, described second location information is institute
State the terminal of the 3rd guidance path.
8. way of transportation as claimed in claim 7 is it is characterised in that described generation described primary importance information and the second position
The 3rd guidance path between information is based on navigation system.
9. way of transportation as claimed in claim 7 is it is characterised in that described generation described primary importance information and the second position
The 3rd guidance path between information includes：
Detect the distance between described primary importance information and second position information；
If described distance is not less than preset distance, produce described 3rd guidance path using navigation system；
If described distance is less than preset distance, produce described 3rd guidance path using vision localization.
10. way of transportation as claimed in claim 8 or 9 it is characterised in that described navigation system include GPS navigation system or
BDS navigation system.
A kind of 11. air navigation aids are it is characterised in that include：Execute the first guidance path, described first guidance path includes making a reservation for
The first location information and the second location information；When executing the first location information of described first guidance path, execute second
Guidance path, described second guidance path with described first location information as starting point, with described second location information as terminal.
12. air navigation aids as claimed in claim 11 are it is characterised in that also include：Receive described first guidance path and
Two guidance paths.
13. air navigation aids as claimed in claim 11 are it is characterised in that described first location information and the second location information one
Cause.
14. air navigation aids as claimed in claim 11 are it is characterised in that also include：Executing the described second guidance path phase
Between determine described second location information.
15. air navigation aids as claimed in claim 11 are it is characterised in that described second guidance path includes the 3rd navigation road
Footpath, during executing described second guidance path, described execution the second guidance path includes：
Obtain the primary importance information that execution first guidance path reaches at present and the second that execution second guidance path reaches
Confidence ceases；
Produce the 3rd guidance path between described primary importance information and second position information, described second location information is institute
State the terminal of the 3rd guidance path.
16. air navigation aids as claimed in claim 15 are it is characterised in that described generation described primary importance information and second
The 3rd guidance path between confidence breath includes：
Detect the distance between described primary importance information and second position information；
If described distance is not less than preset distance, produce described 3rd guidance path using navigation system；
If described distance is less than preset distance, produce described 3rd guidance path using vision localization.
17. air navigation aids as claimed in claim 16 are it is characterised in that described navigation system includes GPS navigation system or BDS
Navigation system.
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